研究生: |
洪浚耀 Jun-Yao Hong |
---|---|
論文名稱: |
基於myRIO的四旋翼機之控制器設計與實作 Control Design and Implementation for quadrotor based on myRIO |
指導教授: |
藍振洋
Chen-Yang Lan |
口試委員: |
林紀穎
Chi-Ying Lin 劉孟昆 Meng-Kun Liu |
學位類別: |
碩士 Master |
系所名稱: |
工程學院 - 機械工程系 Department of Mechanical Engineering |
論文出版年: | 2022 |
畢業學年度: | 110 |
語文別: | 中文 |
論文頁數: | 147 |
中文關鍵詞: | 四旋翼機 、系統鑑別 、狀態估測 、姿態控制 、位置控制 、領先-落後補償器 、LQ控制器 、LQG控制器 |
外文關鍵詞: | Quadrotor, System identifications, State estimation, Position control, Lead-lag compensator, Linear–quadratic control, Linear-quadratic-Gaussian control |
相關次數: | 點閱:300 下載:10 |
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四旋翼機因為有較靈活的移動特性、可垂直起降與懸停的能力,因此有相當大的實用性與經濟效益,例如搜索受難的民眾、取代直升機拍攝地形與運送物資等等。但目前市面上大多的四旋翼機來自中國與歐洲等國家,為了防範資安威脅與掌握其開發技術,自主研發四旋翼機便成為研究的關鍵。因此,本研究開發基於myRIO的四旋翼機,並依循動態模型建立、系統參數鑑別、狀態估測與控制器設計的順序建立四旋翼機控制系統,並以myRIO實現。考量到目前市售的四旋翼機的控制器還使用傳統的PID以及大部分的研究並無考慮馬達的動態與系統的時間延遲,本研究以PID、領先-落後補償器、LQR與LQG四種控制器控制姿態,藉此分析考慮更詳細的系統模型是否能提升控制表現,並且比較不同控制器的控制表現。實驗結果顯示,若閉迴路極點遠小於馬達動態,則馬達動態的考量與否不會影響控制表現;而在四種所設計的控制器中,LQG在控制姿態與位置上,表現比其他控制器更平穩。
Quadrotors have impressive practicalities and economic benefits due to the feature of agile moving and the ability of vertical take-off and landing (VTOL). For example, quadrotors can be used in reconnaissance, exploration and delivery in complex environment. Nonetheless, most quadrotors are manufactured from China and Europe. In order to prevent information security threats and to master the technique in the development of quadrotors, the independent research and develop of quadrotor is critical. Therefore, a myRIO based quadrotor is design and developed in this study. In addition, this study is conducted in the sequential steps of modeling, system identification, state estimation and controller design for the control system to construct the control system. Since most research lacks the consideration of the motor dynamic and the time delay in the quadrotor, this thesis examines and compared PID, Lead-lag compensator, LQR and LQG based control design to analyze the performance benefit of considering more detailed system model. The result has demonstrated that motor dynamic has less affection on the controller performance if the closed loop poles are far enough from the poles of motor. Moreover, among the four examined controllers, LQG design has observed with the smoothest tracking performance and the smallest overshoot under smaller control effort.
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