應用Lead-Lag compensation實現小型無人自主性飛行載具之縱向飛行控制系統

Application of Lead-Lag compensation to the longitudinal control of Unmanned Autonomous Aircraft

黃祺欽(Chi-Chin Huang)

指導教授 ： 吳昌暉 博士

元智大學/工程學院/機械工程學系/碩士(2004年)

摘要

近年來由於科技日新月異、技術發展快速，小型電腦、電子機械元件的體積與重量減少，但效能卻大幅提升，使得UAV的發展空間更加寬闊。而本文是採用一套以單晶片微控制器為核心之航電平台，根據Lead-Lag補償器理論完成無人飛機縱向飛行模式控制系統之設計與實作，並建立一套包含雜訊、量化誤差的Matlab/Simulink模擬程式。在實際飛行測試時依據市售模型飛機遙控器所發射之波寬命令控制飛機之空速和爬升率。在UAV縱向控制性能方面，根據實際飛行測試數據顯示速度迴路上升時間3.8秒(10%~~90%)、穩態誤差1.2%、無最大超越量，爬升率控制迴路的時間響應：上升時間2秒(10%~~90%)、穩態誤差8%、最大超越量20%。

關鍵字

UAV ； MCU ； Flight Control ； Lead-Lag compensation ； MATLAB

並列摘要

Because of the improvement of the science and technology, the fast development of the techniques, the decrease of the volume and weight of the mechatronics units but the efficiency of them are greatly raised in recent years, we broaden the developing range of the UAV. In this content, we take a micro-controller as the core of the electrical aviation platform. According to the Lead-Lag compensation, we complete the design and the realization of the UAV longitudinal control system, and build a MATLAB/SIMULINK program which contains noise and quantization. In the actual flying test, we use the RC transmitter to control the speed and climb rate. In the aspect of the property of UAV longitudinal control, the experimental case presents a rise time of 3.8 s (10%~90%), a steady-state error of 1.2%, and an overshoot of 0% in speed loop and a rise time of 2 s (10%~90%), a steady-state error of 8%, and an overshoot of 20% in climb rate loop.

並列關鍵字

UAV ； MCU ； Flight Control ； Lead-Lag compensation ； MATLAB

參考文獻

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