地面供電之長滯空多旋翼機設計與研製

Long Endurance Multi-rotor UAV Design and Development with Ground Power Supply

李建緯(Jian-Wei Li)

指導教授 ： 林煥榮

國立虎尾科技大學/工程學院/航空與電子科技研究所/碩士(2015年)

https://doi.org/10.6827/NFU.2015.00145

摘要

近十年，無人飛行載具(Unmanned Aerial Vehicle, UAV)的發展相當蓬勃。其中，民用市場的應用需求，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, VTOL)的獨特發展發展最為迅速，優點在於可垂直起降、定點滯空和慢速巡航等特性。

市面上多旋翼機大多都是使用鋰聚電池作為主要電力來源，但由於電池本身受限於蓄電容量而不能達到長滯空，為了給予多旋翼有長滯空的飛行能力，本文參考國外的系統，研製之多旋翼是使用地面供電的方式，透過交流發電機供給地面電源供應器，並經由電線提供多旋翼機載的電力，而不用降落更換電池。

本文研製一部結合大升力同軸雙槳直升機與四旋翼機的飛行原理，製作之非對稱型多旋翼機，分為主扇系統與副扇系統，主扇系統主要功能為推力來源，副扇系統則是控制多旋翼的飛行姿態，目的是為了擁有大酬載能力及具有容錯機制，避免因主扇系統失效而墜毀。

試飛實驗中使用APM飛控系統來進行副扇系統的姿態控制，進行許多不同飛行模式的試飛。例如自穩模式、定高模式與定航向模式等，並使用平板電腦作為地面站來設定飛行模式、PID參數調整與航點設置。

此外，本文研究內容亦包括:
(1)機身轉動慣量之三線扭擺法(Trifilar pendulum method)測量；
(2)主、副扇馬達的推力試驗，在試驗過程中找出效率佳、推力大、溫度低且省電之馬達與螺旋槳的搭配；
(3)假設主扇馬達單組故障且單獨運作時，會因為馬達轉速的增加而對機身產生反扭矩，內文將介紹如何測量且記錄。

關鍵字

無人飛行載具 ； 地面供電 ； 多旋翼 ； 容錯機制 ； APM

並列摘要

In recent decade, unmanned aerial vehicle (UAV) is developing rapidly and the civil applications of multi-rotor is the most popular, due to advantages of vertical takeoff and landing, hovering, slow cruise and other characteristics.

The most of multi-rotor use lithium polymer battery as main power source, but the battery capacity has limit such that it can’t achieve long endurance. This research referred to the existing design to have long endurance of multi-rotor flight ability, this research adopt ground power passing through AC generator, DC power supply and wire to provide the multi-rotor onboard power.

About aerial vehicle design, this research develops an asymmetric, having heavy payload and fault tolerance of multi-rotor which was combined with coaxial helicopter and quad-rotor. The propulsion system of vehicle is divided into two subsystem which is the two coaxial fans to provide the main thrust source and the quad-rotor subsystem to play the 3-axis attitude control.

This research used APM system for quad-rotor flight control. Its flight mode includes self-stabilization, altitude holding, hovering and etc.. The APM ground control station use a tablet setting flight mode, PID parameter adjustment and waypoints.

In addition, this research also contains:
(1)Measure inertia moment of aerial vehicle by Trifilar pendulum method.
(2)Test the thrust of coaxial fan and quad-rotor. During the test process, we select different propellers to compare the thrust and power consumption for optimization the thrust system
(3)Measure the anti-torque which is produced by one of two coaxial fans failure.

並列關鍵字

UAV ； ground power supply ； Multi-Rotor ； fault tolerance ； APM

參考文獻

[39]徐千岳，”多旋翼垂直起降無人飛行載具與地面導控站之整合應用”，國立虎尾科技 大學航空與電子科技研究所碩士論文，2013。

[2]Igor Ivanovich Sikorsky

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