The Stabilizing Controller Design of Small UAH

• Main Authors: Neng-Chi Lin, 林能祺
• Other Authors: 吳昌暉
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/80736598299742968154

碩士 === 元智大學 === 機械工程學系 === 94 === The keynote in this text is to probe into the heaving and stabilizing control of UAH (Unmanned Aerial Helicopter) in UAV (Unmanned Aerial Vehicle).The purpose of designing the stabilizing controller is to assist the cameraman in concentrating on shooting a picture or film without controlling the UAH. The procedure of photographing or videotaping will be more smooth going. First step of designing the controller is to choose a UAV, then design a set of avionics, a flying data recorder, and insure the robustness of the avionics. By dividing UAH into four modes, yaw rate mode、climbing rate mode、latitude mode and longitude mode, we design controllers by individual mode. Furthermore, the HIL(Hardware In the Loop) is also used in simulating flying-test. It can help us save a lot of experiment time and expenses. After checking all the control laws are well done, then we have a flight by UAH to testify the feasibility of the controller.