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系統識別號 U0026-0508201508255900
論文名稱(中文) 基於適應性模糊邏輯控制器的無人載具自動降落系統設計
論文名稱(英文) Design of an Automatic Landing System Based on Adaptive Fuzzy Logic Control for Fixed-Wing Unmanned Aerial Vehicles
校院名稱 成功大學
系所名稱(中) 航空太空工程學系
系所名稱(英) Department of Aeronautics & Astronautics
學年度 103
學期 2
出版年 104
研究生(中文) 詹凱仲
研究生(英文) Kai-Chung Chan
學號 P46024281
學位類別 碩士
語文別 英文
論文頁數 75頁
口試委員 指導教授-詹紹勳
口試委員-賴盈誌
口試委員-譚俊豪
中文關鍵字 無人載具  黑面琵鷺號  模糊邏輯控制器  自動降落系統 
英文關鍵字 Spoonbill UAV  Fuzzy Logic Controller  automatic landing system 
學科別分類
中文摘要 本研究主要設計一套定翼無人機所使用之全自主降落系統,於硬體迴路模擬之環境中加以驗證,並且以實踐飛行測試為最終目標。由於無人機降落程序與民航機並不相同,因此本研究藉由蒐集並分析多次飛行的數據,設計符合無人機降落的降落程序並自動化。本研究所使用的實測平台為國立成功大學航太系微衛星與遙控載具實驗室所設計的黑面琵鷺-100(SPOONBILL-100),為了加快系統的開發及驗證時程,於控制策略上使用模糊邏輯控制器設計縱向、橫向以及導航系統,並且於高度控制上使用適應性的高度控制,主要是藉由改變模糊控制器之歸屬函數達到在不同情況下依然有較好的響應。實際飛行測試方面,最重要的參考位置使用DGPS差分定位系統提供良好的測試環境驗證本自主降落系統。
英文摘要 An automatic landing system for fixed-wing UAVs (Unmanned Aerial Vehicles) was designed in this study, verified in the hardware-in-loop simulation and with the goal of real flight test. Because of the landing procedure for UAV was different from civil aviation, the landing data collected from real flight tests were analyzed for design the automatic landing strategy. The experimental platform is the Spoonbill-100 UAV system which was designed by the Remotely Piloted Vehicle & Micro Satellite Research Laboratory (RMRL) at National Cheng Kung University (NCKU). For fast development and verification, the fuzzy logic controller was applied on the flight control system which was including lateral control, longitudinal control and navigation strategy. Especially, the adaptive fuzzy was applied on the altitude control from change the membership function of the fuzzy controller. The adaptive altitude control made the UAV have better response during landing process. About the real flight test, the most important data were position and altitude. Those data was provided by the Differential Global Positioning System (DGPS) which was a good reference for testing the automatic landing system.
論文目次 Contain
CHAPTER I INTRODUCTION 1
1.1. Introduction to UAV 1
1.2. Landing and Recovery System 3
1.2.1. An Overview of Runway Landing 3
1.2.2. Differential Global Positioning System (DGPS) 4
1.2.3. Landing and Recovery Methods for UAVs 6
1.3. Literature Review and Motivation 9
1.4. Dissertation Organization 11
CHAPTER II Landing Navigation and Control Strategies 13
2.1. Automatic Landing Strategies 13
2.1.1. Problem Statement 14
2.1.2. Landing Process Analysis 15
2.1.3. Landing Strategy Design 23
2.2. Flight Control System and Control Method 25
2.2.1. System Overview 25
2.2.2. Fuzzy Logic Controller 26
2.2.3. Longitudinal Control 29
Pitch Controller 29
Adaptive Altitude Controller 30
Airspeed and Banking Compensator 32
2.2.4. Lateral Control 33
Roll Controller 34
Heading Controller 34
2.2.5. Navigation System 35
2.2.6. Summary for controllers design 37
CHAPTER III Hardware-In-Loop Implementation and Validation 39
3.1. Hardware-In-Loop Simulation Platform 39
3.2. Simulation Results 41
3.2.1. Without Adaptive Altitude Control and Wind Influence 42
3.2.2. Adaptive FLC without Wind Influence 45
3.2.3. Adaptive FLC with Wind Influence 47
CHAPTER IV Experimental Results 56
4.1. Airframe 56
4.2. Avionics 57
4.2.1. Onboard Computer (OBC) 58
4.2.2. Sensor Input and Output Board (SIOB) 59
4.2.3. Attitude Heading Reference System (AHRS) 60
4.2.4. Global Positioning System (GPS) 61
4.2.5. Wireless Modem 62
4.2.6. Ground System 63
4.3. Flight Test Result 66
CHAPTER V Conclusions and future work 70
REFERENCE 72

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