應用模糊控制於四旋翼飛行姿態控制之系統設計與實現

Development of an Attitude Control System for Quad-Rotor UAV with Fuzzy Control

林介堯(Chieh-Yao Lin)

指導教授 ： 宋朝宗

國立虎尾科技大學/工程學院/航空與電子科技研究所/碩士(2014年)

摘要

本論文主要進行結合四旋翼UAV飛行控制器與利用模糊控制法則之姿態控制研究與分析，以建構姿態控制方法及達成姿態控制系統功能，目的在於加以控制改善四旋翼UAV飛行動態不穩定之現象。其姿態控制系統功能是將慣性導航單元所感測之資訊，透過調整馬達轉速來控制旋翼之升力，以達成姿態控制之目的。因此本論文透過結合四旋翼UAV飛行控制器與以模糊控制法則控制姿態之設計，進而對四旋翼UAV飛行之姿態與動態的特性進行分析，以實現一個以模糊控制法則控制姿態為主軸之四旋翼飛行控制系統平台，來有效地強化四旋翼飛行器之飛行穩定性與操控性能並達成姿態控制與模糊控制之分析與實現，進而驗證及評估應用模糊控制法則於四旋翼姿態控制系統之可行性和系統性能。

關鍵字

四旋翼UAV ； 模糊控制 ； 飛行控制器 ； 姿態控制

並列摘要

In this paper, the fuzzy controller of flight attitude is developed and implemented for the quad-rotor UAV system. The attitude control system is designed by sensing the signals of accelerometers and inertial navigation system and adjusting the motor speed of rotors to achieve attitude control of quad-rotor UAV. Moreover, the fuzzy rules are used as the control algorithm to realize attitude controller. Furthermore, the system platform is designed and consists of the monitoring computer, wireless communication unit and the onboard controller to test the system performance of proposed controller. In addition, the flight dynamical characteristics and features are analyzed and tested to deeply understand the system stability of quad-rotor UAV for the better and optimal controller design in this study. In conclusion, the overall testing platform is proposed and constructed to verify and evaluate the feasibility and performance of attitude fuzzy controller for improving the flight stability and control performance of quad-rotor UAV.

並列關鍵字

Quad-rotor UAV ； fuzzy control ； flight controllers ； attitude control

參考文獻

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