以圖形化介面設計無人機自主飛行控制系統

Design of Unmanned Aerial Vehicle Autonomous Flight Control System Using Graphical Interface

詹森(Sen Chan)

指導教授 ： 蕭照焜

淡江大學/工學院/航空太空工程學系碩士班/碩士(2018年)

https://doi.org/10.6846/TKU.2018.00580

摘要

本論文探討利用MATLAB環境下的Pixhawk Pilot Support Package直接使用Simulink設計，以圖形化介面設計四旋翼無人機之自主飛行控制系統，並進行編譯與燒錄的動作。系統所使用的控制器是使用PI Controller，並使用MATLAB Control System Toolbox裡面的PID Tuning尋找合適的gain值，在經由MATLAB Simulink模擬驗證。硬體迴路模擬的部分，Pixhawk與X-Plane之間採用UDP傳輸，並在X-Plane上使用Plane Maker建立四旋翼的模型，以增加數據真實度。最後實際飛行來測試控制律的結果，證明Pixhawk PX4韌體的可更動性與準確性。

關鍵字

無人機自主飛行 ； 圖形化介面 ； Pixhawk pilot support package

並列摘要

This thesis investigates the design of autonomous flight control system for quadrotor UAVs using graphical interfaces. The Simulink design tools with Pixhawk Pilot Support Package under MATLAB environment are used extensively during the design study. After completing the design, we can directly proceed to compile the design and generate the computer code. PI controllers are selected for stabilization for the quadrotor UAV. A quadrotor model is also built using Plane Maker for X-Plane simulation. The UDP communication protocol is used between Pixhawk and X-Plane for hardware-in-the-loop simulation. Finally, flight test is conducted to demonstrate the success of the design.

並列關鍵字

Unmanned Aerial Vehicle Autonomous Flight Control System ； Graphical Interface firmware ； Pixhawk Pilot Support Package

參考文獻

[1] 姜智凱, “以ARM 架構處理器實現太陽能無人飛機的導引控制”, 淡江大學航空太空工程學系碩士論文, 2016

[2] Pixhawk Autopilot Pixhawk overview. Retrieved October 13, 2017, from https://pixhawk.org/modules/pixhawk

[3] MathWorks, Pixhawk PX4 Support from Embedded Coder. Retrieved October 13,2017, from https://cn.mathworks.com/hardware-support/pixhawk.html

[4] 賴盈誌、丁繹仁、王婷, “無人飛行載具編隊飛行模擬平台開發與測試”,航測及遙測學刊,第二十二卷,第四期,第291-301頁,民國106年12月

[5] Soyeon Koo, Seungkeun Kim, Jinyoung Suk, “Model Predictive Control for UAV Automatic Landing on Moving Carrier Deck with Heave Motion”, Department of Aerospace Engineering, Chungnam National University, 2015