以往遙控直昇機對初學者來說,是一種不好控制的玩具,因而造成接觸的人並不多。而本研究主要就是做出遙控直昇機的輔助駕駛系統,來使初學者也可以控制直昇機。 研究目的主要是利用超音波量測直昇機飛行高度,使直昇機可以自動維持在固定的高度。利用電子羅盤量測直昇機航向角,使直昇機可以自動維持在固定的航向。因此,對初學者來說,只需控制直昇機前後左右即可。 在系統實現方面,我們對直昇機高度以及航向做一鑑別實驗,來找出直昇機高度及航向轉移函數。接著再以此轉移函數為基礎,利用Ziegler-Nichols方法以及傳統控制方法,來找出一組初始的PID控制器參數進行模擬以及微調,再以單晶片實現本控制架構,最後再比對模擬與真實系統的差異。 而在應用方面,由於直昇機已經具有高度及機頭航向的自動控制能力,因此我們就可以設計出單隻手就能控制直昇機的遙控器,玩家只需要透過手的擺動就能控制直昇機。
It is difficult to play one RC (radio control) helicopter for a beginner in the past, such that helicopter players are few. The thesis designed and implemented the co-pilot of helicopter, where the co-pilot can help player to hold the longitude stability, then player plays helicopter easily. The research adopts ultrasonic module to measure the altitude of helicopter, such that the helicopter can hold the altitude in flight. On the other hand, the co-pilot measures heading of helicopter by compass module for heading control. So, a beginner just needs to play the helicopter in lateral motion. We find out the transfer function and investigate the system parameters for control system design. Where we adopt the Ziegler-Nichols tuning method for PID controller design. Then the thesis compared the response of simulation and co-pilot implementation with same PID controller. After co-pilot holds the longitude stability and heading control, the thesis design a handheld remote control to control the lateral motion of helicopter for player.