以SoPC實現具物體追蹤功能之四旋翼飛行器

The SoPC Implementation of an Object Tracking Quad Rotor

施博堂(Bo-Tang Shih)

指導教授 ： 徐元寶

國立虎尾科技大學/電機資訊學院/資訊工程研究所/碩士(2013年)

摘要

本論文設計並實現一四旋翼飛行器，並將整個系統以SoPC實現。論文中推導出四旋翼飛行器之數學模型，並以PID控制法對推導出的模型進行模擬與驗證。本研究使用SoPC (System on a Programmable Chip) 做為硬體平台，透過三軸陀螺儀以及三軸加速度計回授飛行器之角速度以及角度，控制飛行器的姿態穩定，並利用超音波距離感器和CMOS攝影機，偵測高度及地面物件，使飛行器能進行物件追蹤。所完成的飛行器能穩定的在室內飛行，也能追蹤地面物件，達成預期的目標。

關鍵字

Quad-Rotor ； PID ； SoPC ； Object Tracking

並列摘要

In this thesis, we design and implement a quad-rotor aircraft, and realize the whole system on a SoPC (System on a Programmable Chip) platform. The dynamic mathematical model of a quad-rotor aircraft is derived. Simulation is conducted by applying the PID (Proportional Integral Derivative) method to control the resulting model to verify if the method is able to stabilize the model.
This work uses a SoPC platform as the flight controller. The posture of the aircraft is stabilized according to the sensory data from a three-axle gyroscope and a tri-axia accelerometer providing angular rates and Euler angles respectively for the control system. Additionally, a CMOS camera and an ultra-sonic sensor mounted on the bottom of the aircraft enable it to detect and track the ground object while the aircraft is flying.The resulting system can fly stably in-door and track a specific object on the ground satisfying the design and implementation purpose.

並列關鍵字

Quad-Rotor ； PID ； SoPC ； Object Tracking

參考文獻

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