本論文的研究目的為設計一台自我控制平衡的四軸飛行器。此飛行器設計包含了可變螺旋槳傾角控制，功能是能在空中穩定狀態下調整飛行器姿態以便快速移動，或是飛行過程中使機體保持穩定平衡。
硬體方面本論文使用嵌入式系統myRIO，它有內建豐富的I/O及各式通訊埠，最主要的是可使用系統設計軟體LabVIEW，以圖形化程式設計本論文的飛控系統，並可使用LabVIEW中大量的程式模組。除了縮短開發流程外，還能有效的整合各種應用工具。
本實驗結果，以初步建構自行設計的四軸飛行器模型以及運動控制理論，設計之可調參數達成四軸飛行器穩定平衡控制，並在測試實驗平台上驗證三軸自由度以確認平衡姿態是否穩定與追蹤目標位置。但因飛行高度的自我控制以及機體的振動干擾還需改善，所以未能在空中達到良好的操控。

The objective of this study was to design a quadcopter whose rotary axes can be tilted. The feature allows the aircraft to move swiftly, or to maintain position stably in the air.
The controller used in the quadcopter is the embedded system myRIO, which includes ample I/O ports and supports various communication protocols. Moreover, we can use LabVIEW, a graphical programming language, to develop the flight control program with the help of many modules of LabVIEW.
The results demonstrated stable and balance control of the quadcopter simulation model by using PID controller. The simulation was successfully verified in terms of tracing specific target and keeping its balance on a testing platform. However, the self-control in the air and the vibration disturbance still need to be improved, otherwise the quadcopter cannot achieve a good balance control in the air.

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