Derivation of Equations of Motion, PID Control Based on First-Order Purturbation, and Dynamical Simulation for a Coanda Effect Saucer

• Main Authors: LIU, JIA-XIN, 劉家新
• Other Authors: Lin, Nan-Jou
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/s7wv6p

碩士 === 逢甲大學 === 自動控制工程學系 === 106 === While much work has been performed in the research of the Coanda effect and related mechanical design of the Coanda effect aircraft, little discussion has been found on the control of the Coanda effect saucer. The focus of this thesis is to derive the dynamical equations and controller for a special-structured Coanda effect saucer that will allow the aircraft to reach a stable and controllable state. There are two kinds of lifts: the lift caused by the momentum change and the lift caused by the air pressure difference. In this thesis, dynamical equations are derived based on these two kinds of lifts, by utilizing Newton-Euler equations together with coordinate systems and Euler angles. And, linearization is used to analyze the stability and controllability of the Coanda effect saucer’s dynamical equations. Then, the first-order perturbation is used with dynamical equations to establish feedforward controller and PID feedback controller. Coanda effect saucer is proved to be an unstable and fully controllable system. Matlab/Simulink is used to build a numerical program, and simulations for both the open loop and closed loop numerical programs are performed and verified.