- 學位論文
利用Matlab/Simulink 結合Pixhawk 實現無 人機自主飛行
Autonomous Flight of Drones using Pixhawk collaborated with Matlab/Simulink
摘要
本論文主旨為自行開發無人機的飛控電腦程式架構， 以淡江UAV 實驗室所製作機體為模擬與實際飛行的機體，本文融合開 發環境架設，設計飛控架構，機體PI 設計，模擬飛行，軟硬整合，實 際試飛等項目。開發環境架設以Mathworks 公司為Pixhawk 飛控電腦 所製作的PX4 Toolchain 工具為主，將介紹測試環境安裝架設步驟。 與設計飛控架構過程，並利用Matlab-PID Tuner Tool 功能來求出機 體Gain 值。最後將飛控程式轉Code 燒入Pixhawk 飛控電腦中做實際 飛行測試。本文研究成果可將無人機飛控電腦程式做架構性開發與不 同的導控方式配合圖形化開發環境實際呈現，可有效降低相關開發難 度，提升開發速度。
並列摘要
This thesis studies the implementation of controllers in the Pixhawk by using the Matlab/Simulink platform to modify the settings. Commercial products for the realization of autonomous flight of unmanned aerial vehicles (UAVs) are more and more accessible nowadays. One of those is the Pixhawk collaborating with mission planner. However, the massive and sophiscated structure of the mission planner makes it difficult to implement customized controllers for a specific UAV. This thesis intends to build the controller with Matlab/Simulink, and implement it on the mission planner directly by employing the PX4 Toolchain toolbox. Design and analysis of the controllers, software-in-loop, hardware-in-loop and flight tests are performed in this research. The work described in this thesis potentially helps engineers who are not of computer-science background to design and implement controllers for the UAV autonomous flight much more easily.