無人直升機嵌入式穩定控制系統

Embedded Control System for Unmanned Helicopter

張儷騰(Li-Teng Chang)

指導教授 ： 陳傳生

元智大學/工程學院/機械工程學系/碩士(2008年)

https://doi.org/10.6838/YZU.2008.00296

摘要

本論文完成UAH航電系統的設計與製作，採用PIC18F6722微控制器做為底層週邊控制器的核心，結合PC104工業規格單板電腦，組成整個航電系統。PIC控制器，以C語言開發，透過硬體中斷整合UAH週邊的感測器，以及對RC伺服馬達下達控制命令；單板電腦以MATLAB Target與MATLAB Simulink為開發環境，設計UAH控制器。

本論文PIC控制器特色如下：
- 具有光隔離的6通道R/C伺服機PWM訊號輸出
- 擷取遙控直昇機無線遙控接收器的伺服機訊號
- 整合慣性量測單元（3軸陀螺儀、3軸加速規）
- 量測直昇機轉速
- 整合超音波測距儀

本論文加入防積分飽和(anti-windup)於PI控制器，將主旋翼的轉速偏差值由開迴路的1.5rps降至0.4rps，完成UAH轉速控制。利用Bumpless Transfer完成手/自動模式切換，並且採用Complementary Filter (CF)整合三軸陀螺儀與三軸加速規，估算出UAH的姿態角。

關鍵字

UAH ； 航電系統 ； Bumpless Transfer ； Complementary Filter ； 轉速控制

並列摘要

In this paper we were designed the avionics for UAH, and combined PIC controller with PC104 single board computer. The PIC controller was developed by C code. The PIC controller has integrated all of UAH sensors, and controlled RC servomotors. The single board computer was developed by Matlab xPC Target and Matlab Simulink. The single board computer has designed controller for UAH.

The PIC controller had include for the following functions.
- 6 channels PWM R/C servo output;
- R/C Receiver signal decoding;.
- Integrated IMU consisting of 3-axis gyro and 3-axis accelerometer;
- Measurement of the rotor speed;
- Integrated ultrasonic distance sensor.

In this paper we complete a PI controller for the rotor speed with anti-windup, and reduce the rotor speed error to from 1.5 rps under open loop control to 0.4 rps. The controller can switch between manual and automatic control modes with bumpless transfer. The controller also includes an IMU which combines 3-axis gyro with 3-axis accelerometer to estimate the attitudinal angle of the UAH with complementary filter approach.

並列關鍵字

UAH ； Avionics ； Bumpless Transfer ； Complementary Filter ； Rotor Speed Control

參考文獻

[7] 李志傑，“無人直昇機停懸穩定控制系統”，元智大學，機械工程學系，碩士論文，民國95年。

[4] 鍾佳橋，“以FPGA結合加速計與陀螺儀訊號實現遙控直昇機之模糊控制器”， 國立成功大學，航空太空工程研究所，碩士論文，民國96年。

[6] 黃培育，“小型無人自主式直昇機整體系統架構規劃及航電系統建立”，元智大學，機械工程學系，碩士論文，民國92年。

[8] 林能褀，“小型無人旋翼機增穩控制器設計”，元智大學，機械工程學系，碩士論文，民國95年。

[10] V. Gavrilets, A. Shterenberg, M. A. Dahleh, E. Feron, “Avionics System For A Small Unmanned Helicopter Performing Aggressive Maneuvers,” Digital Avionics Systems Conferences, 2000, Proceeding DASC. Vol. 19, No. 1, pp. 7-13, 2000.