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    Title: 太陽能拍翼式微飛行器偏航控制研究
    Other Titles: Yawing control of flapping-wing MAVs using solar energy
    Authors: 蔡長澔;Tsai, Chang-Hao
    Contributors: 淡江大學航空太空工程學系碩士班
    蕭富元
    Keywords: 微型飛行器;太陽能;PID;MAV;Solar Powered;IMC (Internal model control)
    Date: 2013
    Issue Date: 2013-04-13 11:58:32 (UTC+8)
    Abstract: 本論文主要探討拍翼式微飛行器 (Flapping-wing MAVs) 之偏航控制及太陽能驅動探討。拍翼式微飛行器近年來已經成為研究的熱門主題,淡江大學微機電實驗室亦長期致力於拍翼式微飛行器的開發。在微飛行器研究的主題中,除了機體本身的開發外,自主飛行亦是眾所矚目的焦點。2010 年初,淡江大學林森煌以金探子微型拍翼機為標的,利用立體視覺作為位置感測器,完成飛行高度控制。2011年,淡江大學余政倫為金探子裝上尾舵螺旋槳,並完成了state-feedback控制。本研究在上述工作的基礎上,探討金探子的偏航控制,以及對另一拍翼機I-bird做太陽能探討及解析。首先,先將對I-bird進行改為太陽能驅動作為評估,再來由於I-bird為一般市售的玩具拍翼機,因此我們先透過逆工程的方法,解碼出該的編碼模式,以作為日後實驗之用。然後,我們在已知的金探子的兩個系統上,分別進行控制器的設計。
    This thesis discusses the yawing control of a solar-powered flapping-wing micro-aerial vehicles (MAVs). The researches on flapping-wing MAVs attracted much attention among scientists recently, and the MEMS laboratory in Tamkang University has been devoting herself to the development of flapping-wing MAVs for a long term. Among interesting topics, autonomous flight of flapping-wing MAVs is one of the foci. In 2010, Lin investigated the altitude control of the Golden Snitch, an 8-g flapping-wing robot, collaborating with the stereo-vision navigation algorithm. Based on Lin’s and Yu''s work, this thesis investigates the yawing control of the Golden Snitch. In this study,we first assess the potential to drive a flapping-wing MAV using the commercial I-bird. Then, with reverse engineering we decode the control module of I-bird and Golden Snitch so that realization of autonomous flight is possible. We then investigate the yawing control of the Golden Snitch using a conventional PID controller. Experiments and numerical simulations about these topics are provided in this thesis. This research potentially contributes to the autonomous flight of the flapping-wing MAVs.
    Appears in Collections:[航空太空工程學系暨研究所] 學位論文

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