四軸飛行器之實現與控制器設計

Abstract

本論文製作一四旋翼飛行器與自行設計的實驗平台，利用姿態感測器與超音波感測器的數值來獲取飛行器當前的狀態，並且搭配串級PID控制器使飛行器能夠維持穩定的狀態，並且具有抗干擾的能力。要使飛行器在飛行的過程中保持穩定需要滿足許多條件，包括機架與零件的配重、四顆馬達出力的情形、控制器的好壞等。 此四旋翼飛行器的控制核心是使用基於ATmega2560的微控制器板， 串級PID控制器實現於微控制器板可完成飛行器自主飛行。利用分配訊號與電力的電路板，將控制器的訊號和電池的電力經由電子調速器穩定的提供給旋翼的四顆馬達。超音波感測器用來偵測飛行器與地面的距離，可以用來輔助定高的功能。飛行器會透過自行設計的實驗平台來檢測姿態的穩定度，記錄數據並且做分析。 利用MATLAB來進行四旋翼飛行器模擬，建立飛行器的動力學模型來模擬飛行器的運動軌跡，套入不同的參數進行比較，探討參數改變對於穩定度的影響。

In this paper, a quadcopter and a self-designed experimental platform are implemented. The values of the attitude sensor and the ultrasonic sensor are used to obtain the current state of the quadcopter, and the cascade PID controller is used to maintain the quadcopter in a stable state and against interference. There are many conditions that need to be met to keep the quadcopter stable during flight, including the weight of the frame, the situation of the four motors, and the quality of the controller. The control core of this quadcopter is a microcontroller board based on the ATmega2560. The microcontroller board with the cascade PID controller can achieve the quadcopter to fly autonomously. The ultrasonic sensor is used to detect the distance between the quadcopter and the ground, and can be used to assist in the function of fixed height. The stability of the quadcopter is verified through the self-designed experimental platform, and the experimental results are recorded and analyzed. The dynamic model of the quadcopter is built to simulate the trajectory of the quadcopter by MATLAB. Different parameters are simulated for comparison, and then the influence of parameter changes on stability is discussed.