本文研究如下，無人飛行載具設計和載具製作、建立運動方程式、控制器設計、最佳化水平轉彎模擬，載具動力使用電馬達，翼展為5.7公尺，全機重量為16.2公斤，機翼搭載16片太陽能板，發電產生的功率為230瓦特，機翼蒙皮製作使用玻璃纖維布。航電系統使用APM2.5，高度和滾轉控制器使用PID控制，使用Ziegler–Nichols method求出增益值，求出的增益值帶入APM2.5進行驗證，最佳化水平轉彎部份，利用最佳化理論探討最佳化水平轉彎，以功率的消耗對飛行軌跡的影響，應用在太陽能無人飛行載具。 The thesis contains the design and manufacture of the solar powered UAV, Kung Pong, and derivation of equation of motion, design of autopilot, implementation and simulation of optimal level turn. The electrical powered UAV has wing span of 5.7 m and mass of 16.2 kg. The solar cells, which generates 230 watts of power, are placed on the wing upper surface. The wing skin makes use of glass fiber. The core of the avionics is APM2.5 from Ardupilot. The PID controllers of height and autopilot are designed by Ziegler-Nichols method. The optimal level control is implemented with the roll controller.
