共軸式旋翼機縱橫向姿態控制器設計與實作

Controller Design and Implementation for the Pitching and Rolling Angular Motions of a Small-Scale Coaxial UAV Helicopter

謝東澐(Dong-Yun Hsieh)

指導教授 ： 吳昌暉

元智大學/工程學院/機械工程學系/碩士(2012年)

https://doi.org/10.6838/YZU.2012.00087

摘要

無人旋翼機(Unmanned Aerial Helicopter, UAH)具有高度機動性，可定點停懸、原地迴轉且具有起降場地小的特性，近年來在學術研究、軍事任務或民間偵查等用途上皆受到高度重視。本研究主要針對共軸式(coaxial)小型無人旋翼機的縱橫向姿態進行控制器設計。鑑別出機體縱橫向角速度的動態模型，針對鑑別出的動態模型進行控制律設計，再依據實際飛測的資料調整控制器參數，使系統符合需求。

本實驗完成之縱橫向姿態控制器，上升時間小於0.18秒，穩態誤差降小於10%;亦完成指向角控制和GPS輔助停懸控制器設計與實作。

關鍵字

飛行控制 ； 無人旋翼機 ； 共軸雙旋翼

並列摘要

This paper presents the design and implementation of the controller on pitching and rolling angular motions for a small-scale coaxial Unmanned Aerial Helicopter (UAH). The analysis is based on a lump system to indicated the pitching and rolling rate’s black-box model.

We first design the control law for the attitude control model used within the proportional controller. The proportional controller makes the rise time about 0.3 second, but it also brings 50% steady-state error. Then we have designed phase-lag controllers to reduce the steady-state error. By using Matlab to perform the controller simulations and doing the real flight experiments, the rise time of attitude control system is about 0.2 second, and its steady-state error is less than 10%.

In the end, we also design a proportional heading angle controller, and tie all of the controllers with a GPS sensor. With this combination, we accomplished a GPS auxiliary hover controller, which could hover in the environment of the wind speed of 5~7 kt within a radius of 3 meters.

並列關鍵字

UAV Helicopter ； Flight control ； System identification ； Coaxial helicopter

參考文獻

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15. 黃佰安，「六旋翼無人飛機系統開發與控制律設計」，元智大學，碩士論文，民國壹百年。

17. 李志傑，「無人直昇機停懸穩定控制系統」，私立元智大學，碩士論文，民國九十四年。

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