三旋翼無人飛行機器人之研製

The Development of Tri-Rotor Aerial Robot

左晧(Haw Tso)

指導教授 ： 鄒杰烔

國立虎尾科技大學/工程學院/航空與電子科技研究所/碩士(2012年)

https://doi.org/10.6827/NFU.2012.00225

摘要

本論文研製之無人飛行機器人被廣泛應用在航空攝影，海洋或空氣污染檢測，空中的安全監控和災害探斟。這項研究是要開發一個三旋翼無人飛行機器人，三支軸以角度120度所形成的Y形結構。為了平衡三個轉子所產生的偏航力矩，在尾軸上安裝RC伺服馬達和連動機構，從而提高尾部電機滾動軸的角度。此外，通過的尾軸傾斜角機構提供了垂直與水平的分力。水平分量產生的力矩，可平衡的三個轉子所產生的偏航力矩。
本研究做出了三種不同型式的三旋翼無人飛行機器人，第一代的三旋翼無人飛行機器人自穩控制是一軸一個壓電式陀螺儀來偵測三軸之旋轉角速度，並據以調整三個旋翼之轉速，以便於維持三旋翼無人飛行機器人之姿態平衡，尾軸再加裝一顆鎖定式陀螺儀以鎖定尾軸的方向。第二代的三旋翼無人飛行機器人自穩控制是經由KK multicopter飛行控制板做為主要的飛控系統。第三代的三旋翼無人飛行機器人自穩控制則是由MultiWii飛行控制板做為主要的飛控系統。
在控制Yaw尾軸之轉動機構，第一代與第二代三旋翼無人飛行機器人機構是以轉動整支尾軸以到控制Yaw的目的。第三代三旋翼無人飛行機器人則是以轉動馬達座而達到控制Yaw的目的。
本研究以探討三旋翼無人飛行機器人動力學方程式為主。在這項研究中，無刷馬達與螺旋槳的推力，角加速度和電壓輸入之間的關係也進行了研究。為了研究控制參數對飛行穩定性的影響，本研究開發了單軸、雙軸和萬向穩定性的實驗平台，以幫助安全地調整控制參數。在此基礎上，三旋翼無人飛行機器人可以迅速改變飛行姿態，避免振盪。
最後，我們進行室內和室外的飛行試驗。從實驗結果可看出，第一代三旋翼飛行機器人因為無飛控系統，故飛行的穩定性較差。而第二代與第三代三旋翼飛行機器人則可以在天空中穩定飛行和停懸。

關鍵字

飛行機器人 ； 三旋翼 ； 動態方程式 ； 穩定性測試 ； 停懸

並列摘要

The unmanned aerial robots are widely applied in aerial photography, marine or air pollution detection, aerial security surveillance and disaster response. This study is going to develop a tri-rotor aerial robot, which adopts the Y-shaped three-rotor structure. In order to balance the yaw torque produced by the three rotors, it installs the RC servo motor and linkage on the tail axis, so as to adjust the angle of the rolling axis of the tail motor. Moreover, through the torque generated by the horizontal component of the lift from the inclined motor on the tail axis, it balances the yaw torque of the three rotors.
This study made three different types of tri-rotor aerial robot, the first generation of tri-rotor aerial robot achieved the stability control by three one-axis piezoelectric gyroscopes to detect three-axis angular velocity and to adjust the three-rotor speed, in order to maintain the attitude balance of the tri-rotor aerial robot, then installed a heading-hold gyroscope on its tail shaft to lock the direction of tail shaft. The second generation of tri-rotor aerial robot achieved stability control by the KK multicopter flight controller with three-axis gyroscope. The third generation of tri-rotor aerial robot was controlled by MultiWii flight controller which was equipped with three-axis gyroscopes, triaxial accelerometer, barometric senson and triple axis magnetometer.
With the yaw control mechanism design, the first generation and second generation of tri-rotor aerial robot bodies turned the entire tail shaft to control Yawing. The third generation of tri-rotor aerial robot turned the motor seat to control Yawing.
The dynamic equations of the tri-rotor were determined in this thesis. The relationship between motor thrust, angular acceleration and voltage input were also studied in this research. In order to study the effect of control parameters on the flight stability completely, this study had developed a single-axis, dual-axis and universal stability experimental platform to help tuning the control parameters safely. Based on this, the tri-rotor can rapidly change flying gesture and avoid oscillation.
Finally, we made some indoor and outdoor flight test. From the experimental results, the generation II and III aerial robot could fly and hover stably in the sky.

並列關鍵字

aerial robot ； tri-rotor ； dynamic equation ； stability experiment ； hover

參考文獻

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