頁籤選單縮合
題名 | 微飛行器六自由度導航系統分析與設計=Analysis and Design of Navigation System for a Micro Aerial Vehicle with Six Degrees of Freedom |
---|---|
作者姓名(中文) | 郭智賢; 張運生; 古俊傑; | 書刊名 | 中正嶺學報 |
卷期 | 41:1(A) 2012.05[民101.05] |
頁次 | 頁129-144 |
分類號 | 598.68 |
關鍵詞 | 微飛行器; 穩定與控制; 外積導引律; Micro aerial vehicles; Stability and control; Cross-product guidance law; |
語文 | 中文(Chinese) |
中文摘要 | 微飛行器(MAV)主導航飛行為執行偵察任務之關鍵能力,由於MAV對外界之干擾相當敏感而相對穩定性不佳,在飛行穩定與導航控制之設計上極具挑戰。首先建立MAV之六自由度非線性運動方程式,以風洞試驗數據與理論公式估算氣動力導數,建立線性化動態模型進行系統分析,設計回授控制以進行速度保持、高度保持與姿態保持等飛控迴路提升飛行穩定性,再運用外積導引律設計導航系統,依導航指令導引微飛行器至任務軌跡與目標位置,由飛行控制器穩定飛行姿態,縱向飛行控制器追蹤與維持高度,橫向飛行控制器透過滾轉轉彎進入目標航向,研究結果顯示此系統可執行高度追蹤、航向追蹤、點對點導航、盤旋飛行及多點導航等。 |
英文摘要 | The objective of this study is to explore the possibility of flight stability, navigation and guidance control technique of a fixed-wing micro air vehicle (MAV) with six degree of freedom (6DOF). Since autonomous flight capability of MAVs plays a crucial role for implementing reconnaissance missions in unknown environment, advanced navigation and control technique are required. Due to MAV’s low Reynolds number flight, it is highly sensitivity to atmospheric turbulence, which thus brings challenges in navigation and guidance control system design. Based on some wind tunnel testing data and theoretical/empirical formulas, flight stability and control derivatives are evaluated and implemented in the analysis of linear and nonlinear dynamic models. The cross-product guidance law was applied to accomplish the mid-course navigation based on desired flight plans including course tracking, point-to-point navigation, loiter flight, and multipoint navigation. Feedback control loops for speed hold, altitude hold, and attitude hold were designed in stability augmented system of the MAV. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。