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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/101664


    Title: 四旋翼機之位移控制器設計
    Other Titles: Displacement controller design of quadrotor
    Authors: 李承霖;Lee, Cheng-Ling
    Contributors: 淡江大學航空太空工程學系碩士班
    馬德明;Ma, Der-Ming
    Keywords: 四旋翼機;狀態回授控制律;PD控制器;Quadrotor;State Feedback Control Law;PD Controller
    Date: 2014
    Issue Date: 2015-05-01 16:13:40 (UTC+8)
    Abstract: 本研究先對於四旋翼機運作方式及建立數學模型,利用牛頓第二定理寫出運動方程式,將所得到的量測參數輸入數學模型,分別對於姿態以及位移動態方程式進行線性化,設計狀態回授控制律以及PD控制器,並且利用了Matlab®內建的Simulink畫出整體系統控制圖來模擬分析,將模擬驗證所得到的結果來判斷所設計的控制器是否可行並且可以應用於實際硬體上面,最後改寫開源APM的飛控程式並編譯完成。
    There are three parts presented in this thesis: derivation of quadrotor’s equation of motion and linearization, displacement controller design. In displacement controller design, used PD controller to control whole system. Finally, the open source flight control program in APM flight control board is rewritten to implement the displacement controller.
    Appears in Collections:[航空太空工程學系暨研究所] 學位論文

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