| Summary: | 碩士 === 元智大學 === 機械工程學系 === 93 === In this paper, the Implemented Unmanned Autonomous Flight Control of Lateral Motions of Small Model Aircraft based on state space with LQE/R designed method along with a dynamic model of simplified 4-order state space matrix, and used only the sensors of three pieces of rate gyros and one piece of accelerometer. Where we design the LQ-estimator to compute the values of sideslip velocity and roll angle, and then design feedback control law by LQ method. The controller is designed to control the Multi-Input-Multi-Output (MIMO) system and is implemented with 8-bit microcontroller in C language. Preliminary flight test with step yaw rate command are also shown in this paper to demonstrate adequate performance with a rise-time less than 2 seconds and zero overshoot.
The difference of transfer technology and state space method is described in Chapter 1. In Chapter 2, we describe control structure, specification and hardware. The hardware is built on microcontroller that base on the PIC microchips, produced by Micro chip, and use high wing 40-class model airplane. In Chapter 3, the LQ design method is described. Where we explain often used design methods that are also used in the controller. In Chapter 4, we describe the design procedures, which contain the estimator tuning and design, the weighting matrices choosing, and some important information, shown in figures. The experiment results are shown in Chapter 5. Chapter 6 is the conclusion of study.
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