摘要
本論文在探討無人直昇機自主停懸之控制器設計。之前我們已經利用系統鑑別的方法找出小型無人直昇機”翔蛉”(H-Ling，為雷虎翼手龍90級)的動力參數。在此基礎之上，我們設計了PID控制器來穩定它停懸時的姿態。僅管直昇機的動力學是非常複雜且常互相偶合，但在停懸時，通常只需考慮四個主要動態的控制：週期性側向輸入對滾轉率輸出、週期性縱向輸入對俯仰率輸出、尾懸翼輸入對偏航率輸出、以及集體槳矩輸入對垂直位置輸出。在我們的研究中，亦考量了來自環境的擾動，諸如陣風等，並將之用高斯分佈的隨機變數來模擬。本文採用Ziegler-Nichols Tuning Method 來選擇每個控制器的參數，並提供數值模擬結果。另外，我們也常是將外迴圈的控制器改成相位領先補償器，再跟原先的PID控制來做比較，選出結果較好的控制器。最後再將模擬結果來跟真實飛行的資料做比較，證明我們的設計是有效的。
並列摘要
The autonomous hover of unmanned helicopters and design of controllers are presented in this thesis. A Thunder Tiger Raptor-90 helicopter (renamed as H-Ling) is selected to investigate. Starting from the identi ed model of H-Ling we design proportional-integralderivative (PID) controllers to stabilize its attitude in hover. Although the general dynamics of a helicopter is highly coupled and nonlinear, for the purpose of implementation we here only discuss control of dynamics of four main channels, cyclic lateral input to rolling rate, cyclic longitudinal input to pitching rate, pedal input to yawing rate, and collective pitch input to vertical motions, in the neighborhood of hovering state. Environment disturbances such as wind gusts, modeled as Gaussian random variables, are also included in the analysis and the Ziegler-Nichols Tuning Method is selected to determine control gains. In addition, we also try to control the outer loop using a lead compensator, which later on is compared with the formor PID controllers. The better one is then selected for implementing candidate. Finally, numerical simulations and comparisons with flight test data are provide to shown the e ectiveness of our design.
參考文獻
延伸閱讀
- 葛昱辰（2015）。無人直升機之自主停懸模擬與驗證〔碩士論文，逢甲大學〕。華藝線上圖書館。https://doi.org/10.6341/fcu.M0316384
- 楊長圃（2004）。Inertial Navigation System for Unmanned Helicopter〔碩士論文，元智大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0009-0112200611294605
- Lin, C. H., Tenn, H. K., Tseng, L. C., & Hsiao, F. B. (2009). Autonomous Hovering Control of an Unmanned Helicopter using Fuzzy Logic Control with Single Antenna GPS and Rate Gyroscopes. Journal of Aeronautics, Astronautics and Aviation. Series A, 41(4), 255-262. https://doi.org/10.6125/JoAAA.200912_41(4).06
- Wing, M., Burnett, J., Brungardt, J., Dobler, D., Cordell, V., & Sessions, J. (2016). Search and Rescue Operations with an Unmanned Helicopter. International Journal of Remote Sensing Applications, 6(), 65-75. https://doi.org/10.14355/ijrsa.2016.06.007