本文旨在探討無人飛行載具(UAV, Unmanned Aerial Vehicle)中,無人旋翼機之停旋增穩控制。設計增穩控制器之目的在於讓攝影師不需費心於操控無人旋翼機,使得空拍攝影工作得以順利進行。設計控制器之初,首先要選定飛行載具,並設計一航電系統,且可記錄飛行載具的飛行資料,且需確保航電系統的強健性。將UAH (Unmanned Aerial Helicopter)分解成航向率、升降率、縱向及橫向姿態,依需求設計控制器,並以HIL(Hardware In the Loop)為軟體輔助模擬飛行,減少實驗的時間與成本。控制器設計完成並確認各控制率無誤,便以實機飛行,驗證控制器於實機飛行的可行性,如此便完成設計。
The keynote in this text is to probe into the heaving and stabilizing control of UAH (Unmanned Aerial Helicopter) in UAV (Unmanned Aerial Vehicle).The purpose of designing the stabilizing controller is to assist the cameraman in concentrating on shooting a picture or film without controlling the UAH. The procedure of photographing or videotaping will be more smooth going. First step of designing the controller is to choose a UAV, then design a set of avionics, a flying data recorder, and insure the robustness of the avionics. By dividing UAH into four modes, yaw rate mode、climbing rate mode、latitude mode and longitude mode, we design controllers by individual mode. Furthermore, the HIL(Hardware In the Loop) is also used in simulating flying-test. It can help us save a lot of experiment time and expenses. After checking all the control laws are well done, then we have a flight by UAH to testify the feasibility of the controller.