基於Fuzzy+PID 之八軸飛行器姿態控制器設計與實現

Abstract

本論文主旨在研究與設計八軸飛行器之高度控制器。近年來已有越來越多八軸飛行器的相關研究及其應用，而八軸飛行器是無人飛行器的一種。本論文將此八軸飛行器的動態模型設計成類似於四軸飛行器，而為了能夠穩定的控制飛行器的高度，我們提出了使用結合Fuzzy以及PID的高度控制器。其電腦模擬以及即時實驗皆於LabVIEW環境下所開發完成的。在模擬中，我們測試了此控制器的效能並微調其控制器參數。我們使用了NI-MyRio完成其即時控制。在現實實驗中，我們驗證了此控制器可有效的應付雜訊並能穩健的處理環境因素。而其實驗結果也驗證了模擬結果及此控制器的可行性。

The objective of this work is to design and implement attitude control for an octocopter. Octocopter is one of the Unmanned Aerial Vehicles (UAVs), which have grown fast recently, and various applications have been developed. In this work, the dynamic model of an octocopter is obtained by making the configuration similar to a quadcopter. In order to stabilize the attitude control of the octocopter, we proposed a Fuzzy+PID design of the attitude controller. Both computer simulation and real-time experiments have been carried out by using LabVIEW programming. In the simulation, we investigated the performance of the proposed Fuzzy+PID controller and tuned the controller parameters. For real-time control, NI-MyRio has been chosen to implement the controller onboard the octocopter. The practical experiments show that the proposed Fuzzy+PID controllers can handle the disturbances during flying and have robustness against certain environmental conditions. The experimental results validate the simulations and verify the effectiveness of the developed controller.