本論文主要以透過飛行力學理論及半經驗公式算出無人飛行載具的氣動力參數,並建立非線性六自由度運動方程式,再據以獲得線性化動態方程式,建立縱向及橫向運動的狀態空間數學模型,做為本文中飛控系統設計與分析模擬的基礎。在飛控系統的設計上,本文首先應用卡曼濾波器完成各種空速下的狀態估測器設計,以線性二次高斯法(LQG)進行狀態回授控制器設計。並設計一速度增益排程方案,使系統適應在各種空速下均有良好的性能。經數值模擬與飛行模擬器模擬,本文所設計的增益排程LQG控制方案確實可實現在低、中、高三空速下均可實現良好的性能。最後採用以單晶片微控制器為核心之航電平台,實際飛行驗證。
The objective of this research is to enhance the flight stability and control performance for various flight speeds of a UAV. In this thesis, a nonlinear dynamical model for the six-degree-of-freedom (6 DOF) motion of the UAV was first constructed. Then, construct linear longitudinal/lateral dynamic models, which were derived by applying small perturbation theory and linearizing around an equilibrium operating condition. In this paper, the implemented flight control based on state-space with the Kalman filter to estimate and design feedback control law by using LQ method, and then design the adaptive control law by using the velocity gain schedule technique. Based on the previous analysis and design, we implement control algorithms with embedded micro controllers to enhance the flight stability and control for improving the flying qualities of the UAV.