本論文在探討無人直昇機自主停懸之控制器設計。之前我們已經利用系統鑑別的方法找出小型無人直昇機”翔蛉”(H-Ling，為雷虎翼手龍90級)的動力參數。在此基礎之上，我們設計了PID控制器來穩定它停懸時的姿態。僅管直昇機的動力學是非常複雜且常互相偶合，但在停懸時，通常只需考慮四個主要動態的控制：週期性側向輸入對滾轉率輸出、週期性縱向輸入對俯仰率輸出、尾懸翼輸入對偏航率輸出、以及集體槳矩輸入對垂直位置輸出。在我們的研究中，亦考量了來自環境的擾動，諸如陣風等，並將之用高斯分佈的隨機變數來模擬。本文採用Ziegler-Nichols Tuning Method 來選擇每個控制器的參數，並提供數值模擬結果來顯示我們的設計是有效。 The autonomous hover of unmanned helicopters and the controller design are investigated in this paper. Starting from the identified model of H-Ling (a Thunder Tiger Raptor-90 helicopter) we design proportional-integral-derivative (PID) controllers to stabilize its attitude in hover. Despite the complicated dynamics, highly coupled and nonlinear, we here discuss control of four main channels, cyclic lateral input to rolling rate, cyclic longitudinal input to pitching rate, pedal input to yawing rate, and collective pitch input to vertical motions, after linearization about the hovering state. Environment disturbances such as wind gusts, modeled as Gaussian random variables, are also included in this analysis. The Ziegler-Nichols Tuning Method is selected and numerical simulations are provided to shown the effectiveness of our design.
