- 學位論文
四旋翼飛行動態與PD控制器之研究
Study on Flight Dynamics and PD Controller of Quad-Rotor UAV
摘要
本論文進行四旋翼無人機的飛行動態特性與控制器設計之研究。首先，經由飛行運動方程式建構出四旋翼無人機完整的數學狀態方程式，利用Matlab/Simulink數學軟體進行系統動態模擬，以探討及瞭解四旋翼無人機的飛行動態特性；進而在PID控制器基礎上設計PD控制器，來達成四旋翼飛行動態控制之目標，以即時地操控四旋翼無人機的飛行路徑與方向，並透過系統模擬，以驗證四旋翼控制器的性能，以作為四旋翼控制器的設計與實現的參考準則。
並列摘要
The flight dynamics and controller design of quad-rotor UAV are studied and proposed in this paper. First, the flight equations of motion are derived to construct the mathematical model of quad-rotor UAV. The flight dynamics and maneuvering characteristics are analyzed and investigated by numerical simulation. The PD controllers are proposed to discuss and achieve the various flight maneuvers of quad-rotor UAV. Matlab/Simulink software is used to simulate and analyze the transient and steady-state performance of various flight maneuvers with designed PD controller. Furthermore, the transient and steady-state analysis simulations of derived mathematical model are proposed and studied to strengthen the understanding and acknowledgement for flight dynamics of quad-rotor UAV. The maneuvering controller is developed and demonstrated by the PID control scheme. The conclusion of this paper will be provided as the design guideline and realized reference of quad-rotor UAV.