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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：198  下載：7 
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  •  上一筆

    • 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.

    摘要 i Abstract ii 誌謝 iii 目錄 iv 符號索引 ix 表索引 xiv 圖片索引 xvi 第一章 緒論 1 1.1 前言、動機與研究目的 1 1.2 文獻回顧 2 1.2.1 模型建立 2 1.2.2 系統鑑別 2 1.2.3 狀態估測 3 1.2.4 姿態控制 5 1.2.5 位置控制 8 1.3 問題陳述與貢獻 8 1.4 論文架構 9 第二章 研究方法 11 2.1 理論基礎 11 2.1.1 坐標系定義 11 2.1.2 運動行為 11 2.1.3 旋轉矩陣 12 2.2 模型推導 13 2.2.1 推導假設 14 2.2.2 運動學 14 2.2.3 動力學 15 2.2.4 升力、外力與力矩 15 2.2.5 空氣動力學 16 2.2.5.1 動量理論(momentum theory) 17 2.2.5.2 升力 18 2.2.5.3 水平力 18 2.2.5.4 誘導扭力 19 2.2.5.5 角動量力矩 20 2.2.5.6 總合力 20 2.2.6 馬達模型 20 2.2.7 馬達混合演算法(motor mixing algorithm) 23 2.2.8 狀態空間表示式 24 2.2.9 線性化模型 25 2.3 系統鑑別 27 2.3.1 質量慣性矩 27 2.3.2 升力因子與阻力因子 29 2.3.3 馬達模型 29 2.4 感測器介紹、量測與校正 29 2.4.1 感測器介紹與量測 30 2.4.1.1 加速規 30 2.4.1.2 陀螺儀 30 2.4.1.3 磁力計 30 2.4.1.4 距離感測器 31 2.4.1.5 GPS 31 2.4.1.6 相機 32 2.4.2 感測器校正 33 2.4.2.1 距離感測器校正 33 2.4.2.2 光流校正 33 2.5 狀態估測 35 2.5.1 離散時間卡爾曼濾波器 35 2.6 控制器 37 2.6.1 控制架構 37 2.6.2 串級PID 38 2.6.3 串級領先-落後補償器(Lead-lag compensator) 39 2.6.4 伺服控制架構 39 2.6.5 無積分器的伺服控制架構 41 2.6.6 LQR 42 2.6.7 LQG 43 第三章 系統鑑別 44 3.1 四旋翼機設備 44 3.2 質量慣性矩 46 3.3 升力因子 49 3.4 阻力因子 52 3.5 馬達模型 54 3.6 時間延遲 58 3.7 線性化模型 60 第四章 狀態估測 62 4.1 估測模型 62 4.1.1 姿態的估測模型 62 4.1.2 高度的估測模型 63 4.1.3 位置的估測模型 63 4.2 光流校正 64 4.3 變異數量測與選定 65 4.3.1 姿態的量測雜訊 65 4.3.2 高度的量測雜訊 67 4.3.2.1 位置的量測雜訊 69 4.4 估測器設計 74 4.4.1 姿態估測 74 4.4.2 高度估測 76 4.4.3 位置估測 76 第五章 姿態與高度控制 79 5.1 規格制訂與限制 79 5.2 控制器設計與模擬 80 5.2.1 串級PID 80 5.2.2 串級領先-落後補償器 80 5.2.3 LQR與LQG 86 5.3 實驗結果 90 5.3.1 實驗平台 90 5.3.2 翻滾角 91 5.3.3 偏航角 96 5.3.4 高度控制 102 5.4 小結 104 第六章 位置控制 105 6.1 規格制訂與限制 105 6.2 控制器設計與模擬 105 6.2.1 無積分器的LQG控制器 105 6.2.2 有積分器的LQG控制器 107 6.3 實驗結果 108 6.3.1 實驗環境 108 6.3.2 無積分器的LQG 108 6.3.3 有積分器的LQG 111 6.4 小結 113 第七章 結論與未來展望 114 7.1 結果討論 114 7.2 未來展望 116 7.2.1 系統鑑別 116 7.2.2 狀態估測 117 7.2.3 控制演算法 117 7.2.4 實務應用 117 參考文獻 119 附錄一 123

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