應用狀態空間,LQ方法實現自主性小型無人飛機之橫向飛行控制

Implemented Unmanned Autonomous Flight Control of Lateral Motions of Small Model Aircraft Based on State Space with LQ Method

林木泉(Mu-Chuan Lin)

指導教授 ： 吳 昌 暉

元智大學/工程學院/機械工程學系/碩士(2004年)

摘要

本論文主要以簡化四階之狀態空間之橫向模型做為飛行控制數學模型，應用自動控制之狀態空間、LQ方法，設計橫向多輸入多輸出(MIMO)系統的控制律回授及觀測器。其中感測器只有偏轉率(yaw rate) 、滾轉率(roll rate) 及三軸加速度測量。然而經由LQ觀測器設計而觀測出無感測器之側滑速度(sideslip velocity) 及滾轉角(roll angle)完成完整四個狀態數值提供而得以LQ方法設計狀態回授。輸入為同時輸入尾舵 (rudder)及副翼(aileron)及同時控制定翼飛機偏轉率(yaw-rate)及機體橫向加速度(sideforce)輸出，硬體以單晶片(PIC)為主要架構。在飛行試驗時輸入步階轉向率命令以檢驗其動態響應，結果證明此控制器可以良好控制飛機偏轉運動，其動態響應上升時間小於2秒且無超越量。
第一章簡介使用轉移函數與狀態空間設計方法於飛行控制之差異及研究動機，第二章為飛行控制所使用整體架構、硬體及飛行控制動態反應設計規格，其中飛機以市購模型定翼飛機，單晶片為Micro chip 生產PIC系列為主，第三章提到普遍使用LQ設計控制器及觀測器方法，第四章為使用狀態空間及LQ方法設計飛行控制律及觀測器、選擇權重矩陣過程、權重不同與根軌跡關係、及設計後閉回路方波響應模擬，第五章飛行實驗結果，第六章結論。

關鍵字

HASH(0xb9b41f8)

並列摘要

In this paper, the Implemented Unmanned Autonomous Flight Control of Lateral Motions of Small Model Aircraft based on state space with LQE/R designed method along with a dynamic model of simplified 4-order state space matrix, and used only the sensors of three pieces of rate gyros and one piece of accelerometer. Where we design the LQ-estimator to compute the values of sideslip velocity and roll angle, and then design feedback control law by LQ method. The controller is designed to control the Multi-Input-Multi-Output (MIMO) system and is implemented with 8-bit microcontroller in C language. Preliminary flight test with step yaw rate command are also shown in this paper to demonstrate adequate performance with a rise-time less than 2 seconds and zero overshoot.
The difference of transfer technology and state space method is described in Chapter 1. In Chapter 2, we describe control structure, specification and hardware. The hardware is built on microcontroller that base on the PIC microchips, produced by Micro chip, and use high wing 40-class model airplane. In Chapter 3, the LQ design method is described. Where we explain often used design methods that are also used in the controller. In Chapter 4, we describe the design procedures, which contain the estimator tuning and design, the weighting matrices choosing, and some important information, shown in figures. The experiment results are shown in Chapter 5. Chapter 6 is the conclusion of study.

並列關鍵字

HASH(0xb9b42d0)

參考文獻

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