碩士 / 國立成功大學 / 航空太空工程學系 / 88 / The Unmanned Aerial Vehicle (UAV) has many special properties that a manned aircraft doesn’t have. However the operation of an unmanned vehicle is traditional done by an RC expert. This limits the application of the UAV. This motivates the research to design a PC-based controller to assist the operator to handle an UAV.
Lacking funds of operation, we could not identify the parameters of the airship through extensive experiments. Instead, we refer to the data of other similar airships and make reasonable modification to fit the current airship. Finally, we design the height and pitch angle control based on this model.
Besides the PID controller that controls the height of the airship, we add an extra consideration; if the height of the airship is 25 meters lower than the set value, thrust of the engines will be pointed straight upward with full power. The PID control will resume when the emergency condition disappears. To control the pitch angle, we consider three conditions. When the airship is 10 meters higher than the set value. The control will keep a pitch angle of negative 3 degrees. When the airship is between 10 meters and negative 5 meters from the set value. The control will keep a pitch angle of 3 degrees. And when the airship is 5 meters lower than the set value. The control will keep a pitch angle of 3 degrees.
Real flight tests have showed that the height and pitch angel of the airship has been successfully kept in a reasonable range of the set value.
| Identifer | oai:union.ndltd.org:TW/088NCKU0295038 |
| Date | January 2000 |
| Creators | 王懷三 |
| Contributors | 謝成 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 67 |
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