室內小型直昇機控制系統之建立

Abstract

直昇機控制器設計是一個複雜的題目，因為直昇機是一個擁有六個自由度且極度非線性的受控體。許多相關的研究使用約一公尺長，以汽油為動力的無線電遙控直昇機模型。這一類的實驗必須在戶外寬廣的空間中進行，且當控制器設計還不夠成熟時，容易造成危險。另外一些研究則是使用可模擬直昇機氣動力與運動，且可在實驗室內進行實驗的旋翼設備當作替代品。然而，這類的設備畢竟只能模擬直昇機，而非真正控制直昇機，而且其價格通常相當昂貴。 本篇論文使用一靈巧且適合在如實驗室般狹小空間實現控制的小型無線電遙控直昇機模型，來建立一套直昇機模糊控制系統。

Helicopter controller design is a complex topic, because a helicopter is a six-degree-of-freedom highly nonlinear plant. Many researches use gasoline-powered R/C (radio control) helicopter models, about 1 meter in length. This kind of experiments need a wide area and may be dangerous the control fails. Many other researches use rotor equipments in laboratories as substitutes, which can simulate the aerodynamics and motion of helicopters. However, these equipments just simulate helicopters, not physically control, and usually are very expensive. This thesis established a helicopter fuzzy control system by using a small-scale R/C helicopter, which is compact and suitable for practical control in a small area, like laboratory.