定旋翼複合無人機轉換控制設計與四旋翼無人機抗風控制設計

Abstract

近年來無人機產業發展十分蓬勃，而發展方向主要分為多旋翼機以及定翼機，前者的優點為可執行垂直起降以及定點懸停 ; 缺點為低航程距離與持續飛行時間，後者的優點為適合長距離與長時間飛行 ; 缺點則為需要起降跑道。為了彌補多旋翼機以及定翼機彼此的缺點並結合兩者的優點，近年有許多定旋翼複合構型之開發出現，而此構型之無人機也將成為未來商業與軍事應用趨勢。 本研究主要著重於發展新型的定旋翼複合構型無人機之轉換控制策略。首先，透過現有的固定翼機構型進行空氣動力學模擬。並在將固定翼機與四旋翼整合後，建立了定旋翼複合構型無人機的完整非線性六自由度動態模擬模型。 接著，本研究進一步設計了一種名為「動態飽和」的新型控制策略，以完成垂直起飛、飛行模式轉換和高速巡航等任務，並在隨後將此策略的性能與其他應用於相同定旋翼複合構型的傳統策略進行比較。同時為了增強無人機的抗風性，本文在後續章節根據傳統四旋翼機的構型進行了陣風干擾估測與消除的技術研發，以利未來將此抗風技術擴展至定旋翼複合構型。

In recent years, the unmanned aerial vehicle (UAV) industry has experienced significant growth. And the development primarily divided into multirotor and fixed-wing aircraft. Multirotors offer advantages such as vertical takeoff and landing (VTOL) capability and hovering at a fixed point, but they suffer from limited flight range and endurance. On the other hand, fixed-wing aircraft are suitable for long-distance and long-duration flights but require runways for takeoff and landing. To overcome the disadvantages of multirotors and fixed-wing aircraft and combine the advantages of both, there has been a surge in the research of hybrid configurations known as fixed-wing VTOL UAVs. These UAVs are expected to play a crucial role in future commercial and military applications. This study mainly focuses on the development of new transition control strategy for fixed-wing VTOL UAVs. It begins by performing aerodynamic simulations based on existing fixed-wing aircraft configurations. After integrating the fixed-wing aircraft with a quadrotor, a complete nonlinear six-degree-of-freedom dynamic simulation model of the fixed-wing VTOL UAV is established. The research then proceeds to design a new control strategy called “Dynamic Saturation” to accomplish tasks such as vertical takeoff, flight mode transitions, and high-speed cruising. Subsequently, the performance of this strategy is compared with other conventional strategies applied to fixed-wing VTOL UAV. Furthermore, to enhance the UAV''s gust alleviation capabilities, this thesis explores techniques for wind gust disturbance estimation and rejection based on the traditional quadrotor configuration. These techniques serve as a foundation for extending gust alleviation capabilities to the fixed-wing VTOL configuration in the future.