臺灣博碩士論文加值系統

由於近年來機械加工與電子技術不斷進步，許多無人飛機的零組件不斷精進、更加精緻化且成本降低，而零組件之性能與可靠度亦大幅提升，因此注重於自己設計並製造無人飛機與飛行的參與者近年來呈倍數成長。發展至今，混合飛行模式無人飛機已經是無人飛行載具研究趨勢之一，因為混合飛行模式無人飛機具有多軸旋翼機的垂直起降、可懸停的優點，還具備固定翼飛機的航程遠、平飛速度快等特點，具有很重要的應用價值。
本論文研製兩種飛行模式的混合飛行模式無人飛機，主要分成四軸旋翼機模式和定翼機模式的設計。另外無人飛機設計，本研究將四軸旋翼機與定翼機做整合，針對選用不同螺旋槳與馬達進行模擬與實驗，以找出續航力長、效率高、省電之搭配。飛機製作過程中遇到許多問題導致無法正常飛行，經過不斷的設計改善，最後兩種模式四旋翼機與定翼機於室外進行各種飛行測試驗證，且由地面導控站即時監測得知此混合飛行模式無人飛機的飛行姿態與模式。

In recent years, due to the developing of mechanical and electrical technology, components for UAVs become more and more refining and much more reliable with lower cost. Therefore, number of people who participate in designing and producing UAVs by themselves increase these few years. Hybrid Unmanned Aerial Vehicle is one of research trends in UAV area. The Hybrid UAV could flight in multi-copter mode and/or fix-wing airplane mode. The Hybrid UAV has the advantages of VTOL and hover ability in multi-copter mode. Meanwhile, it has the advantages of long endurance and faster speed performance in fix-wing mode. Those provide good potential in applications.
In this study, the Hybrid UAV are combined with quadcopter and fix-wing mode. The longest endurance, higher efficiency and less energy consumption configurations are studied by testing different combinations of motors and propellers. In the research process, many issues resulted in abnormal functions has been solved. Both modes had been proved and flying data was derived from flight test via live-monitoring GCS.

摘要......i
Abstract......ii
誌謝......iii
目錄......v
表目錄......ix
圖目錄......x
第一章 緒論......1
1.1 前言......1
1.2 UAV發展歷史與文獻回顧......2
1.3 研究動機及研究目的......3
第二章 飛行原理與飛機構型......4
2.1定翼機飛行原理......6
2.1.1定翼機簡介......6
2.1.2定翼機運作原理......6
2.1.3定翼機的特性......6
2.2傳統旋翼機......7
2.2.1 飛行原理......7
2.2.2傳統旋翼機運作原理......8
2.2.3旋翼機的構型與特性......10
2.2.4旋翼機的構型所產生的飛行特性的討論......15
2.3 多旋翼機簡介......17
2.3.1 多旋翼機的特性......17
2.3.2多旋翼機發展歷程......18
2.3.3多旋翼機運作原理......22
2.4 多旋翼機與傳統旋翼機(直升機)之比較......24
2.4.1. 多旋翼機與旋翼機的物理與操作特性差異......25
2.5 旋翼機與固定翼無人飛行載具的特性與優缺點......26
2.5.1 操控性方面......26
2.5.2 可靠性方面......27
2.5.3 勤務性方面......28
2.5.4 載重-航程性能方面......28
2.6 小結......29
第三章 各種Hybrid Drone概念設計......31
3.1 可變動力配置與外型設計......32
3.1.1 傾轉旋翼機的介紹......32
3.1.2 傾斜機翼機的發展沿革......35
3.1.3 V-22傾斜旋翼機的發展沿革......37
3.1.4 V-22傾斜旋翼機的技術優勢......40
3.1.5 V-22傾斜旋翼機的主要操作限制及缺點......42
3.1.6 傾轉旋翼機的未來......45
3.2 混合式設計......47
3.2.1 AH-56的嘗試......48
3.2.2 西科斯基的解決方式......50
3.2.3 空中巴士的構想......53
3.2.4 小結......54
第四章 Hybrid Drone的構型選擇與設計......55
4.1 Hybrid Drone的構型選擇......55
4.1.1 三軸Hybrid Drone構型的優缺點......55
4.1.2 四加一軸(或是多加一)構型的優缺點......56
4.1.3四軸傾轉構型的優缺點......58
4.1.4小結......59
4.2 Hybrid drone的構型計算......60
4.2.1動力選擇......60
4.2.2升力預估......63
4.2.3阻力預估......64
4.2.4垂直尾翼設計......66
4.2.5水平尾翼設計......67
4.3 Hybrid drone的設計結果......68
第五章 Hybrid drone製作......70
5.1 Hybrid drone材料配置......70
5.1.1動力部分......70
5.1.2電控部分......70
5.1.3材料部分......71
5.2 製作工法過程介紹......72
第六章 Hybrid drone飛行控制器設定、測試與試飛......77
6.1 飛行控制器種類......77
6.1.1 MultiWii......78
6.1.2 APM......79
6.1.3 Pixhawk......80
6.1.4 APM、PX4、Pixhawk等三系統之比較 [59]......81
6.1.5 MicroPilot......85
6.1.6 DJI(Da-Jiang Innovations，大疆創新)......86
6.2 飛控設定......87
6.2.1 Mission Planner韌體安裝......88
6.2.2 Pixhawk飛控校準......92
6.2.3 Mission Planner參數調教......97
6.3 飛控安裝與地面整測......101
6.4 飛行驗證測試......105
6.4.1多旋翼模式試飛......106
6.4.2 定翼機模式試飛......110
6.4.3 FBWA模式多旋翼轉換定翼機......116
6.4.4 飛行數據整合......117
第七章 結論與未來展望......119
7.1結論......119
7.2未來展望......119
參考文獻......120
附錄一 Pixhawk系統特性......128
附錄二 PX4FMU / PX4IO與PIXHAWK的比較......130
附錄三 飛行確認單- Flight Checklist......133
Extended Abstract......135

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