近年來無人飛行載具(Unmanned Aerial Vehicle, UAV)的發展相當廣泛,從民生用途到軍事任務都有顯注的成果。其中小型多轉子無人飛機因其高機動性,操縱門檻低之特性,成為各國熱門之研究目標。本論文主要針對六旋翼無人飛機的系統開發與控制律進行設計與實作。利用自行建置之六旋翼系統,使用黑箱法鑑別出旋翼機之角速度動態模型,並針對鑑別出的動態模型進行指向率控制器與縱橫向姿態角控制器之設計,利用系統模擬與實際飛測調整控制參數達到自穩之目標。 本實驗完成六旋翼無人飛機系統建置,並於實驗平台上達到油門手控之半閉路停懸。指向率角速度控制使上升時間小於2秒,穩態誤差降低到10%內。縱橫向姿態角控制器達成當命令為0度時,震盪頻率1Hz,幅度10度以內之效果。
In this paper, the author offers a systematic design method of six-rotor UAV Helicopter, which includes Hardware selection and Control law design. By combining the helicopter and flight controller, we can apply control laws to the UAV helicopter. By adding the phase-lag controller, heading rate system rise time is less then 2 sec and steady-state error is less then 10%. By adding the proportional controller to the theta and phi angle system, we can control the altitude of the six rotor helicopter. When the command is at 0 degree, it can stabilize within 10 degree. After the controller design, six rotor UAV Helicopter can perform semi-hovering on the experiment table.