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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/101666

    Title: 可傾式四旋翼機線性模式的動態分析與模擬
    Other Titles: The analysis and simulation of linear quadrotor model with tilting propellers
    Authors: 陳建隆;Chen, Chein-Lung
    Contributors: 淡江大學航空太空工程學系碩士班
    Keywords: 可傾式四旋翼機;四旋翼機;Quadrotor;tilting quadrotor
    Date: 2014
    Issue Date: 2015-05-01 16:13:43 (UTC+8)
    Abstract: 本篇論文,主要利用牛頓力學法推導可傾式四旋翼機的運動方程式,並且將其非線性的運動方程式線性化,進而以線性化的運動方程式獨立比較利用螺旋槳轉速控制和使用螺旋槳傾角控制對於姿態的影響大小。經由獨立比較之後我們可以知道在俯仰和滾轉的部分,螺旋槳轉速的影響較大;而在偏航的部分則是螺旋槳傾角的影響比較大。而整體可傾式四旋翼機的控制邏輯設計成利用螺旋槳轉速控制俯仰和滾轉,利用螺旋槳傾角控制偏航。帶入本研究室近期所使用的四旋翼機物理參數以及限制之後,而設計出PD控制器的各項增益值。
    Based on the classical mechanics, the derivation of the equation motion of the quadrotor with tilting propeller is presented. The nonlinear quadrotor’s model is linearized by the method of small disturbance. The study of the effectiveness of propeller’s rotating velocity and propeller’s tilting angles in the quadrotor’s attitude shows that the propeller’s rotating velocity is more efficient in pitching and rolling, and propeller’s tilting angle is more efficient in yawing.
    Appears in Collections:[Graduate Institute & Department of Aerospace Engineering] Thesis

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