| Summary: | 碩士 === 國立虎尾科技大學 === 航空與電子科技研究所 === 100 === The unmanned aerial robots are widely applied in aerial photography, marine or air pollution detection, aerial security surveillance and disaster response. This study is going to develop a tri-rotor aerial robot, which adopts the Y-shaped three-rotor structure. In order to balance the yaw torque produced by the three rotors, it installs the RC servo motor and linkage on the tail axis, so as to adjust the angle of the rolling axis of the tail motor. Moreover, through the torque generated by the horizontal component of the lift from the inclined motor on the tail axis, it balances the yaw torque of the three rotors.
This study made three different types of tri-rotor aerial robot, the first generation of tri-rotor aerial robot achieved the stability control by three one-axis piezoelectric gyroscopes to detect three-axis angular velocity and to adjust the three-rotor speed, in order to maintain the attitude balance of the tri-rotor aerial robot, then installed a heading-hold gyroscope on its tail shaft to lock the direction of tail shaft. The second generation of tri-rotor aerial robot achieved stability control by the KK multicopter flight controller with three-axis gyroscope. The third generation of tri-rotor aerial robot was controlled by MultiWii flight controller which was equipped with three-axis gyroscopes, triaxial accelerometer, barometric senson and triple axis magnetometer.
With the yaw control mechanism design, the first generation and second generation of tri-rotor aerial robot bodies turned the entire tail shaft to control Yawing. The third generation of tri-rotor aerial robot turned the motor seat to control Yawing.
The dynamic equations of the tri-rotor were determined in this thesis. The relationship between motor thrust, angular acceleration and voltage input were also studied in this research. In order to study the effect of control parameters on the flight stability completely, this study had developed a single-axis, dual-axis and universal stability experimental platform to help tuning the control parameters safely. Based on this, the tri-rotor can rapidly change flying gesture and avoid oscillation.
Finally, we made some indoor and outdoor flight test. From the experimental results, the generation II and III aerial robot could fly and hover stably in the sky.
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