摘要
本論文以實現無人直昇機（UAH）之停懸飛行控制（Hovering Control）為主題，整合超音波、電子羅盤、加速規、陀螺儀…等感測器於機上之航電系統，並針對直昇機之多輸入多輸出（MIMO）系統設計飛行控制系統，分別如下： 1.飛行高度控制 2.飛行航向控制 3.飛行姿態控制 另外設置地面站，在無人直昇機啟動飛行時，透過無線網路，於地面站即時監控無人直昇機之飛行狀態。 所完成之無人直昇機飛行控制系統中包含二個子系統：動態參考系統及飛行控制系統，在直昇機飛行狀態下，動態參考系統提供飛行控制系統回授控制之參考，飛行控制系統再對直昇機輸出控制命令。 動態參考系統包含轉速高度參考系統及姿態方位參考系統。整合不同的外部感測器與濾波器，提供系統更為準確的資訊。外部感測器包括超音波、電子羅盤、3軸加速規及微機電陀螺儀。分別提供高度、方位及三軸之加速度與角速度。 飛行控制系統取得動態參考系統之回授，對直昇機上五個伺服機輸出控制命令，包括油門及螺距伺服機、方向舵伺服機、副翼及升降舵伺服機，分別對應飛行升降控制、飛行方位控制與飛行姿態控制。另外，針對直昇機起飛、停懸及降落三種狀態，由地面站發出三種程序改變的指令，設計內部程序改變之決策狀態流程控制（SFC）模型。 以上系統軟體開發使用MATLAB xPC Target、Matlab Real-Time Workshop、Matlab Simulink、Microsoft C/C++ ；系統硬體使用PC104工業規格單板電腦、A/D card、CAN BUS card；Microchip PIC單晶片、802.11b Wireless LAN。 在系統開發時期，作者建立一套模擬實驗平台，限制住直昇機前後左右移動兩個自由度，驗證直昇機在實際情況下四個自由度下之動態響應，以便設計並測試控制器之控制響應，同時提高系統強健性，且排除外來干擾。
並列摘要
The aim of the thesis is to implement a flight control system for a unmanned helicopter (UAH). is the control system integrates a ultrasonic sensor, an accelerator, an compass, gyros…etc. The multi-input and multi-output flight control system for helicopter includes the following functions: 1.Flight heading control 2.Flight pitch and heave control 3.Flight attitude control When the unmanned helicopter starts to flight, a ground station monitors and sends commands through a wireless network. The complete unmanned helicopter includes two sub-systems: an attitude measurement system provides feedback to flight control subsystem and a flight control subsystem outputs commands to the helicopter. The attitude measurement system includes the measurement of rotational speed, height, heading and attitude. The integrated sensors with filter supply the control system more precise information. These sensors include an ultrasonic sensor, a compass, a 3-axis accelerometer and a 3-axis MEMS gyro. These sensors supply the measurement of height, azimuth angle, 3-axis acceleration and angular velocity The flight control system obtains the feedback from the attitude measurement system and outputs the commands to servomotors on the helicopter to control the rotational speed, height, heading and attitude individually. Besides, the ground station sends three commands of procedure changing including the situation of lift off, hovering and the landing. All software systems are developed by MATLAB xPC Target, Matlab Real-Time Workshop, Matlab Simulink and Microsoft C/C++. And hardware system consists of a PC104 single board computer, a PC104 A/D card, a PC104 CAN BUS card, a Microchip PIC and an 802.11b Wireless LAN device. During the development period, the author built an experiment stand to constrain two degrees of freedom in the x-axis and y-axis direction of the helicopter. Without the movement of the x-axis and y-axis direction is helpful to demonstrate the dynamic response of the helicopter with four degrees of freedom in reality for designing and testing the response of the controller.