臺灣博碩士論文加值系統

由於無人飛行載具具有重量輕、體積小、機動性高、自主性高等優點，一直以來都是備受矚目的研究對象。而目前最常被拿來作研究對象，就屬定翼機與懸翼機兩種。而以一般大眾最常使用的功能，不外乎就是定點的盤旋與前後左右運動，在這方面旋翼機比起定翼機有著顯著的優異性。但是由於旋翼機複雜的空氣動力與陀螺運動，使得很多研究者因此而卻步。
本研究的目的在於建立一個旋翼機的數學模型，進而分析、控制旋翼機的運動，使得一般使用者能夠很輕易的操作旋翼機，而不需像傳統般長時間的訓練才可以操作。過程中，除了建立非線性及線性模型外，更用模擬作初步驗證系統模型的正確性，並且製作、設計控制系統於真實的模型懸翼機上作為最終的驗證。

The unmanned aerial vehicle (UAV) has the advantage of light weight, small size, and
better dynamic performance and it can be designed for any type. It always is taken a notice of research objective all this year. The most popular research objectives are fixed-wing aircraft and rotor-wing aircraft. The function for the people usually use is hovering and at a fixed point to do forward、backward、left、right motion. In this hand, rotor-wing aircraft is better than fixed-wing aircraft. But, because rotorcraft has complex aerodynamic, mechanism and gyroscopic dynamic make researcher stop forward.
The target for this research is to build a rotor-wing aircraft’s mathematical model and use this model to analysis, control the motion of rotor-wing aircraft. To make everyone can control a rotor-wing aircraft without training for a long time. In this progress, not only build linear and non-linear models but also proof the correct of model by simulation first, then make this controller on real rotor-wing aircraft for final test.

誌 謝 ................................................................................................................................ I
中文摘要 ............................................................................................................................ II
英文摘要 .......................................................................................................................... III
目錄 ............................................................................................................................... IV
圖目錄 .............................................................................................................................. VI
表目錄 .............................................................................................................................. IX
章節 頁碼
第一章 緒論 ................................................................................................................. 1
1-1 前言 .................................................................................................................. 1
1-2 研究動機 .......................................................................................................... 1
1-3 文獻回顧 .......................................................................................................... 2
1-4 研究目標與方法 .............................................................................................. 3
1-5 論文架構 .......................................................................................................... 4
第二章 系統的建立 ..................................................................................................... 5
2-1 系統規格與載具選定 ...................................................................................... 5
2-2 感測器及載具其他周邊選用 .......................................................................... 9
第三章 直昇機制御方程式分析 ............................................................................... 22
3-1 建立直昇機座標間的關係 ............................................................................ 22
3-2 幾個假設 ........................................................................................................ 23
3-3 動力學分析 .................................................................................................... 24
3-4 氣動力學分析： ............................................................................................ 29
3-5 簡化、線性化數學模型 ................................................................................ 43
第四章 控制律設計與系統模擬 ............................................................................... 46
4-1 操控規格及控制模式 .................................................................................... 46
4-2 控制律設計 .................................................................................................... 49
4-3 系統模擬 ........................................................................................................ 53
第五章 實驗規劃及飛行測試結果 ........................................................................... 57
5-1 實驗步驟 ........................................................................................................ 57
5-2 感測器測試 .................................................................................................... 58
5-3 地面測試 ........................................................................................................ 63
5-4 實際飛行測試 ................................................................................................ 65
第六章 結論與未來展望 ........................................................................................... 72
6-1 結論 ................................................................................................................ 72
6-2 未來展望 ........................................................................................................ 72
參考資料 ........................................................................................................................... 73
自述 ................................................................................................................................ 75

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