本論文主要探討市售四旋翼的控制問題。由於目前四旋翼機已經越來越普遍，購買市售四旋翼機來做為任務平台，或使用市售組件自行拼裝，可大幅降低自行設計與研發四旋翼機的成本。然而，用市售四旋翼機來改裝，代表原來的控制參數將不再適用。本研究採用市售之四旋翼機零件組裝，並將其改裝成日後適合研究的狀態，因此本研究先採用簡單的系統鑑別的方法，找出改裝後的全機動力學參數，再以此參數進行合適的控制器設計與模擬。最後以試飛數據驗證系統鑑別的正確性，與控制器的有效性。 This thesis investigates the control problem of quadrotors with commercial parts. Because of the convenience and easy operation of quadrotors, wider and wider applications of quadrotors are initiated. By purchasing a commercial quadrotor or or assembling a quadrotor with commercial parts one can avoid annoying process of designing or fabricating quadrotors. However, a commercial quoadrotor installed with our own payload will cause the change of dynamical characteristics, leading to the consequential change of control parameters. In this thesis, a quadrotor is assembled from commercial parts and will serve as a research platform in the future. In order to reveal its dynamics, we adopt a simple way of system identification to identify the dynamical parameters of the quadrotor. Then proper control parameters are designed based on the identified system. Numerical simulations and flight tests are employed to verify the correctness of identified parameters, and the validity of the controllers.
