利用聲音探討研製之四軸飛行器其翻轉姿態角的動態響應

Study of the Rolling Angle Dynamic Performance of the Quadcopter Motors Based on Sound Measurement

林宗儀 ； 陳昱中 ； 郭鈞宇 ； 龔逸軒 ； 黃宜正

《中華民國振動與噪音工程學會論文集》 2014 (2014/06) Pp. 342-348

摘要

近年來，四軸飛行器的使用越來越普及，功能也越來越多元，探討姿態的穩定性成為很重要的議題。本研究首先研製一台四軸飛行器的雛型，先探討四軸飛行器馬達在不同翻滾角度的動態特性；分別進行步階（step）與近似軌跡追蹤（tracking）之響應測試。將手機MEMS麥克風所擷取到的聲音，利用快速傅立葉轉換（FFT）與希爾伯特黃轉換（HHT），分析其運動過程的特徵頻率，藉由聲波測得飛行器馬達的能量大小，再從不同中實驗測試中，找到四軸飛行器開迴路轉速與時間控制的較佳起飛與直接進行翻滾的動態特性，以作為日後其內建陀螺儀、加速規與壓力計之綜合控制器設計之先期研究。

並列摘要

The use of quadcopter has been more widespread and functional in recent years. Discussion for the stability of attitude will turn to a significant problem. First, this research made an in-lab prototype of quadcopter. The motor was commanded for different roll angles and the dynamic character of it was discussed. The step and tracking responses of the quadcopter are conducted experimentally. The Fast Fourier Transform (FFT) and Hilbert Huang Transform (HHT) were used to analyze the dynamic frequency response. The motor energy of quadcopter can be obtained by acoustic wave measurement via MEMS the mobile phone. This preliminary study will contribute the signal analysis to the internal equipped gyro, accelerometer and some multi controlled synergy for bettering control .