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題名 | 四旋翼直升機之平衡控制=Balance Control for Quadrotor Helicopter |
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作者姓名(中文) | 戴翊展; 黃寶強; 徐碧生; | 書刊名 | 宜蘭大學工程學刊 |
卷期 | 8 2012.12[民101.12] |
頁次 | 頁152-170 |
分類號 | 447.738 |
關鍵詞 | 四旋翼直升機; 自調式模糊PID控制器; 無人飛行載具; 平衡控制; Quadrotor helicopter; Self-fuzzy PID controller; Unmanned aerial vehicles; Balance control; |
語文 | 中文(Chinese) |
中文摘要 | 無人飛行載其近年來在業界與學術界上發展快速,其靈敏性高、機動性佳、體積小與重量輕等特點在軍事戰略上具發展價值。本論文以四旋翼直升機機身為不穩定之特性,設計一套自調式模糊PID姿態控制系統,用以增加四旋翼直升機之穩定性與安全性。本系統主要分為硬體及軟體兩個部分,硬體方面為架設在四旋翼直升機上之傾斜感測器做為姿態回授,Arduino單晶片作為控制器來即時運算程式;軟體方面以模糊控制與PID控制相結合,通過對誤差及誤差變化即時判別,實現自調整的PID參數;智慧型手機則可藉由藍牙傳輸姿態命令控制四旋翼直升機,使控制直升機更為有趣。實際測試結果顯示本控制系統能穩定四旋翼直升機的姿態,達到平衡,並驗證此控制理論之可行性。 |
英文摘要 | Due to the advantages on small size, light structures and high maneuverabilty, Unmanned Aerial Vehicles(UAV) have the merits in military applications. Investigations and researches on UAV have become the most popular topics recently. In this study, a self-fuzzy PID control system was designed to improve the stability and security of the quadrotor helicopter. The system is mainly divided into two parts, the hardware and the software. In the hardware, a tilt-sensor was set up on the quadrotor helicopter as a attitude feedback, and arduino single chip as a controller to run programs. The software was programmed by the theory of fuzzy control combined with PID control, tuning the PID parameters automatically. It is interesting to control quadrotor helicopter through the commands transmitted by Bluetooth on a smartphone. The feasibility, of this control theory was verified by the experimental results, which showed that this control system can stabilize the posture of the quadrotor helicopter. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。