無人直升機旋翼轉速控制系統之設計

Design of a Rotor Speed Control System for Unmanned Helicopters

王啟叡(Chi-Ruei Wang)

指導教授 ： 蔡國隆 ； 曾百由

國立臺北科技大學/機電學院/車輛工程系所/碩士(2006年)

https://doi.org/10.6841/NTUT.2006.00251

摘要

隨著無人自主直升機發展的進步，建置於直升機之航電系統功能也越來越複雜，使得成本也相對增高。然而，直升機在飛行時所遭遇的外在氣動力干擾相當複雜，當轉速不穩定時將會影響主旋翼所產生的升力，輕則使得直升機姿態未達到預期的目標，重則使機身與航電系統處於極為危險的環境，甚至有損毀的可能。因此，為了提高無人直升機飛行的安全與穩定，我們便針對旋翼轉速加以研究討論，並設計一套引擎定轉速控制系統。
本研究中針對無人直升機旋翼轉速控制開發兩套控制系統，第一套系統將轉速計之數位訊號改變為類比訊號的輸出，方便於VisSim軟體中加以記錄，並於此軟體中實現轉速控制的架構。第二套系統則利用單晶片的數位編碼功能，並導入控制法則控制直升機汽門伺服，達到穩定轉速的目的。而於旋翼轉速控制架構的部份，則利用不同的方法設計控制器，硬體部份由VisSim軟體以及PIC微處理器則分別實現所規劃的控制架構，控制法則的規劃則包含PID控制法則以及模糊控制規則之建立。經由實驗的結果比較各種硬體架構以及控制法則對於轉速控制效果的優劣，完成直升機轉速控制系統之研究。
本研究所設計之控制器，經由實驗探討之後，整理歸納並與國內外其他相關研究加以比較，證明於不同控制法則下，對於轉速控制結果亦有相當的不同之特性。雖然實驗所需花費流程較為繁瑣，但可更完整的呈現各種方法所得到之特性，達成更為完整的無人直升機轉速控制研究。

關鍵字

無人飛行載具 ； 直升機 ； 轉速控制

並列摘要

As the unmanned helicopter advances in technology, the built-in avionics system for helicopters has become more complicated, and the cost has increased correspondingly. However, the external airflow interaction is very complicated, as the rotor speed becomes unstable, it will also affect the lift of the main rotor blades. It could cause minor disruption to the helicopter and become unstable; on another hand, it could put the fuselage and the control system in danger, or even cause destruction. In order to improve the safety of unmanned helicopter, we will focus our research and discussion upon the speed of the rotor blades and design a set of stabilization engine speed control system.
This research has designed two control systems for the helicopter rotor speed control. The first system can transform the digital signal of tachometer into analog signal output which will allow the data be recorded with VisSim. Via VisSim, it will be easier to constant the structure of helicopter rotor speed control. The second system utilizes the digital coding function of microprocessor to improve the resolution of rotor speed sensing. Afterwards, the control methodology will be introduced into the microcontroller and control the servo of the helicopter to achieve the goal of stabilizing rotor speed. For the control design, the mathematical relationship of the characteristics of the helicopter engine, the speed of main rotor blade and the servo command would be analyzed and introduced into the controller. With different types of control methodology design, including the establishment of PID control and Fuzzy Logic control, the experimental results in this study have been compared with different hardware control structures and different types of control methodology to develop the research of rotor speed control system of helicopters.
The controller designed by this research, after experimenting and comparing with other related international research, proved that, the result of rotor speed control also has very different characteristics under different control methodologies. Although the procedure required by the experiment is quite complex, it could present more detailed characteristics resulted from different methodologies, and complete an integrated research of unmanned helicopter rotor speed control.

並列關鍵字

Unmanned Aerial Vehicle ； Helicopter ； Rotor Speed Control

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