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| 題 名 | 模糊理論應用於四旋翼機之懸停控制=Hovering Control of Quadrotor Using Fuzzy Control Method |
|---|---|
| 作 者 | 江冠廷; 黃寶強; 徐碧生; | 書刊名 | 宜蘭大學工程學刊 |
| 卷 期 | 12 2017.12[民106.12] |
| 頁 次 | 頁1-16 |
| 分類號 | 447.7 |
| 關鍵詞 | 四旋翼機; 影像處理; 模糊控制; 懸停; Quadrotor; Image recognition; Fuzzy control; Hovering; |
| 語 文 | 中文(Chinese) |
| 中文摘要 | 本研究目的為設計四旋翼機的控制系統,使系統具有自動定位以及定高的功能。本研究分為兩個部分:硬體電路設計以及懸停控制系統。硬體電路設計使用藍芽進行傳輸功能,以及MPU6050做為姿態感測,因此我們將微控制器的核心Atmega328與我們的周邊設備藍芽以及MPU6050感測器,合併為一塊電路板,並且加入無線燒錄功能,使燒錄程式以及電路搭配更加便利,也節省了擴充板子的空間。懸停控制系統則利用影像辨識的結果得到回授,將命令與影像回授得到的誤差,使用Matlab/Simulink的Fuzzy Logic工具箱,設計模糊PID控制系統,進行模糊推論,以達到四旋翼機懸停的控制。實際測試結果顯示,使用模糊PID控制器,可以得到比PID控制器更好的控制,使四旋翼機能夠更接近命令的位置,並驗證此控制理論的可行性。 |
| 英文摘要 | The purpose of this study is to design a quadrotor's control system, which is able to autonomously letting the quadrotor hovering at the position expected. This paper is divided into two parts: hardware circuit design, and hovering control system. In the hardware circuit design, Bluetooth transmission functions, the attitude sensor MPU6050 and the core microcontroller Atmega328 were combined into a circuit board. In the hovering control system, the errors between the results of image recognition system and the position of command were feedback to the fuzzy PID control system which were designed by using the Fuzzy Logic Toolbox of Matlab/Simulink and to achieve the quadrotor's hovering control. The feasibility of this control theory was verified by the experimental results, which showed that Fuzzy PID control methods is better than PID control methods. |
本系統中英文摘要資訊取自各篇刊載內容。