- 學位論文
傾轉旋翼無人飛行載具之研製
The Development Unmanned Aerial Vehicle with Tilt-Rotor Mechanism
摘要
近年來，無人飛行載具(UAV)獲得廣泛的研究，其中又以多旋翼垂直升降無人飛行載具(Multi-Rotor Vertical Take-Off and Landing Unmanned Aerial Vehicle)的發展最為蓬勃迅速。無人飛行載具一般包括固定翼機與旋翼機。一般的固定翼機與旋翼機相比，固定翼機雖然有很高的飛行速度，但不具有垂直起降與停懸能力。旋翼機能垂直起降與停懸，飛行速度卻遠不如固定翼機，但低速飛行也是旋翼機之特色。因此設計了可傾轉之四旋翼飛機，具有很高的飛行速度、垂直起降與停懸的能力。 本論文研製可傾轉之四旋翼無人飛行載具為一種兩用的無人飛行載具。本研究主要分成兩種模式飛行，旋翼機模式與定翼機模式，分析旋翼機、定翼機模式，與傾轉過程的動力學方程式。一開始先說明目前垂直起降有哪些類型，並說明大概的工作原理，並分析優缺點。再來說明目前傾轉旋翼有分哪兩類，並說明他們的差別。說明運動方程式之後，開始講解硬體架構、如何配線與整體的設計理念。講解完設計理念後，說明想要執行的任務，程式碼的流程，馬達轉速與角度控制說明。展示機體的製作流程、每一台改良的原因與實驗結果。 本研究計算出運動方程式，已看出傾轉時的速度與傾轉過程中四顆馬達的轉速差對機體的影響。使用中斷讀取PWM脈波寬度，提高程式碼執行時整體的效率，並提出一種傾轉的控制策略，使傾轉的過程較為穩定。自製的傾轉旋翼，經過多次改良後，使得機身能同時擁有一定的強度與較輕重量。設計出 I 字型 與 H 字型 兩種不同傾轉的傾轉機構。
並列摘要
In recent years, unmanned aerial vehicle (UAV) had obtained a wide range of research. The multi-rotor vertical take-off and landing (VTOL) unmanned aerial vehicle, which can fly stably and hover in a fix position, was developed fastest. Unmanned aerial vehicles generally include fixed-wing aircraft and rotorcraft. Compared with the general fixed-wing aircraft and rotorcraft, fixed-wing aircraft can fly at higher speed than rotorcraft, but does not have the VTOL and hovering ability. In this paper, we have developed a drone (tilt-rotor quadcopter). In this research, the proposed a quadcopter with tilt-rotor mechanism has two flight modes: rotorcraft and fixed-wing aircraft flight mode. It can take-off and land vertically with rotorcraft mode. It can also fly faster with fixed-wing aircraft flight mode. The dynamic equations of the proposed quadcopter with tilt-rotor mechanism also been studied in this paper. At first, we show different types of VTOL, analyze the advantages and disadvantages. And then we show two types of tiltrotors, and explain their differences. We describe the equations of motion, and explain the hardware architecture, how the wiring and overall design. Then, we explain that what their tasks to perform, program flow, motor speed and attitude control. At least, we show production process, and their improvements.