無人直升機載具之參數量測與驗證

Modeling and Parameter Identification of an Unmanned Helicopter

劉哲鈞(Zhe-Jun Liu)

指導教授 ： 曾百由

國立臺北科技大學/機電學院/機電整合研究所/碩士(2005年)

摘要

國內針對無人直升機模型建構之相關研究，主要集中在旋翼氣動力分析及以系統辨別的方式進行，所得之參數模型並不能完全與實際相符。本研究之最終目的以建構一個完整的無人直升機動態模型為目標。模型建構過程中，仍有部分理論參數包含在模型中，因此本研究將透過實驗方式取得所需之參數，並對其進行驗證，使得模型中原先的理論參數，與實際值更為接近。如此，所建構之無人直升機模型與實際模型更為接近。
本研究針對選用之遙控直升機元件進行實驗取得參數，以建立各元件之控制方塊或動態模型。實驗部分，針對遙控直升機結構與所裝載之元件，包括伺服馬達、旋翼葉片、主旋翼機構…等，進行模擬分析與實驗，以了解彼此間相對運動關係並建立其模型或控制參數。此外，針對各元件參數量測上，除了以靜態方式之外，也對其進行動態量測，使得模型更為接近真實。旋翼負載理論部分，以動量法為基礎，探討直升機之運動狀態及空氣流場對直升機之影響。
本研究所量測之參數，經由相關理論與模擬結果驗證後，若求得之參數與理論相符合，即可代入直升機模型動態方程式中，進行無人直升機系統之模型建構。透過實驗方式所取得之參數，雖然花費時間較長，但所得之結果與實際更為接近，因此針對直升機參數量測建構一套完整的量測系統有其存在的必要。

關鍵字

無人飛行載具 ； 直升機 ； 動量法

並列摘要

The domestic unmanned helicopter development and research have founded on the aerodynamics and System and Parameter Identification of the vehicles. The goal of this study is building the mathematic model of an unmanned helicopter. Most of UAV modeling development in Taiwan have adopted the System and Parameter Identification of the vehicles to analyze and develop the related parameters. However, not all details and parameters can be obtained. This drawback has motivated the present study to develop a more realistic model for the rotary-wing UAV.
This present study has chosen a radio-controlled helicopter as the platform to be studied and analyzed. The study has analyzed the critical components of the helicopter to build their mathematic model and/or dynamic responses, such as servo motor, rotor blade, rotor hub, etc, via analytical or experimental approaches. This study has correlated the analytical and experimental data to validate the results obtained. Both static and dynamics tests have been conducted to accomplish the complete model of the chosen rotary-wing UAV. The rotor-disc momentum theory has been applied to develop the aerodynamic model of the rotary-wing UAV to model the kinetics and aerodynamics of UAV.
The results of the experiments compared with theory and simulation are correlated. Once identified, the parameters can be used in building model. Although it costs time to measure helicopter parameters, the experimental data can be correlated with realistic model. The results of this study suggest that a measuring system for unmanned helicopter parameters identification is necessary.

並列關鍵字

Unmanned Helicopter ； Rotary-Wing ； Momentum Theory

參考文獻

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