四旋翼無人機飛行姿態之兩級串接式PID控制器設計與實現

Attitude Stabilization of a Quad-rotor UAV Based on Two-Stage Cascaded PID control

王祖齡(Tsu-Line Wang)

指導教授 ： 宋朝宗

國立虎尾科技大學/工程學院/飛機工程系航空與電子科技碩士班/碩士(2016年)

摘要

近年，於四旋翼無人機之應用與日俱增，而如何有效地控制，抑或是傳輸介面之研發、機構輕量化與儲電及儲能等都將是未來研究之方向。此篇論文探及使用兩級串接PID控制器實現四旋翼無人機之姿態控制、定高控制與定位控制。其中，姿態部份使用慣性量測系統(IMU)與磁力計得知四旋翼無人機之3軸加速度、3軸角速度與3軸磁場強度，並使用互補式運算及搭配EMA濾波器將數值轉換成姿態航向參考系統(AHRS)。此參考系統提供滾轉角(Roll Angle)、俯仰角(Pitch Angle)及偏航角(Yaw Angle)。另外，設計兩級串接PID控制器實現姿態自穩控制、高度控制與位置控制。最後，實測四旋翼無人機於室內飛行以驗證自穩控制、定高控制與定位控制，且由地面監控站即時地監測四旋翼無人機之飛行狀態。

關鍵字

四旋翼無人機 ； PID控制 ； AHRS ； 互補式濾波器 ； EMA

並列摘要

In recent years, the application of the quad-rotor UAV growing, and how to effectively control, interface of signal transmission, lightweight, rechargeable batteries or energy storage will be the direction of future research. This paper discusses the use of two Cascaded PID controller for attitude control, altitude control and indoor positioning control of the quad-rotor UAV. Using inertial measurement unit (IMU) and magnetometer to obtain 3-axis accelerometer, 3-axis angular velocity and 3-axis magnetic field intensity of the quad-rotor UAV, and convert these values using complementary and EMA into attitude heading reference system (AHRS). It provides roll angle, pitch angle and yaw angle. In addition, design two Cascaded PID controller for self-leveling attitude control, altitude control and indoor positioning control. Finally, we test flight of the four-rotor UAV to verify the self-leveling attitude control, altitude control, indoor positioning control and monitor the status of the quad-rotor UAV instantly from the ground monitoring stations.

並列關鍵字

Quad-rotor UAV ； PID control ； AHRS ； complementary filter ； EMA

參考文獻

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