Proceedings of the 32nd Chinese Control Conference

July 26-28, 2013, Xi'an, China

ϝ 㞾⬅ᑺ ᮴ ҎⳈ छ ᴎ ᅲ偠 ᑇৄϢ 亲㸠࿓ᗕ᥻ ࠊ఼䆒䅵∗

‫ߙڲ‬ҋ, ທ μ∗∗, ฆ‫׾‬, ჆༜
໽⋹໻ ᄺ⬉⇨Ϣ 㞾࣪
࣪ Ꮉ⿟ᄺ䰶, ໽⋹໻ ᄺ ᴎ఼ҎϢ 㞾 Џ㋏㒳ⷨお ᠔, ໽⋹Ꮦ 䖛⿟Ẕ⌟Ϣ᥻ ࠊ䞡⚍ᅲ偠ᅸ, ໽⋹ 300072 E-mail:
ࡼ
gjch@tju.edu.cn, xbin@tju.edu.cn, wangfu@tju.edu.cn, xu zhang@tju.edu.cn

ᨬ 㽕 : Ў೼ഄ 䴶῵ᢳ ᮴ ҎⳈ छ ᴎⱘ 㞾 Џ 亲㸠᥻ࠊˈᴀ᭛䆒䅵 ᑊ ᨁ ᓎњ ᇣ ൟ⬉ࡼⳈ छ ᴎϝ 㞾⬅ᑺ 亲㸠᥻ࠊ㋏㒳ᅲ偠 ᑇ

ৄDŽ 䆹 ᑇৄՓ⫼ᇣ ൟ⬉ࡼ㟾῵Ⳉ छ ᴎЎ ԰Ў 㹿ᇍ䈵᥻ᇍ䈵 ˈ෎Ѣ᭄ᄫোֵ ໘⧚఼˄DSP˅䆒䅵亲㸠࿓ᗕ᥻ ࠊ఼ˈ⫼ᖂ ൟ 㟾৥
࿓ᗕ খ 㗗㋏㒳˄AHRS˅Ўᴎ
԰Ўᴎ 䕑亲㸠࿓ᗕӴᛳ఼ˈՓ⫼㪱⠭῵ ഫ Ϣ ഄ 䴶キ䖯㸠 ᮴ 㒓᭄᥂Ӵ 䕧 DŽ 䆎᭛䅼䆎 ߽ њ ᮄൟ⬉ࡼⳈ
छ ᴎⱘ⬉ᄤ᥻ࠊᓣ 㶎䎱⏋㋏㒳᥻㋏㒳˄ECCPM˅ⱘߚ䗮䘧㠉 ᴎ णৠ᥻ ࠊᮍ ᓣˈ 䞡⚍ߚᵤњϝ 㞾⬅ᑺ ᮴ ҎⳈ छ ᴎ 䰆ℶ㠉 ᴎ 佅
੠ⱘϡ ᅠܼᖂߚⱘPID᭄ᄫ๲䞣 ᓣ 亲㸠࿓ᗕ᥻ ࠊㅫ⊩ⱘ ॳ⧚੠ ᅲ⦄ᮍ ᓣDŽ᳔ৢˈ 䗮䖛亲㸠偠 ᅲ偠 ˈ 偠䆕 њ 亲㸠᥻ࠊㅫ⊩ⱘ
᳝ᬜ ᗻDŽ
݇䬂䆡: ᮴ ҎⳈ छ ᴎ, ϝ 㞾⬅ᑺ, ᭄ᄫ PID᥻ࠊ, ⬉ᄤ᥻ࠊᓣ 㶎䎱⏋᥻

Development of a Three Degree-Of-Freedom Testbed for an

∗
Unmanned Helicopter and Attitude Control Design
GUO Jianchuan, XIAN Bin∗∗, WANG Fu, ZHANG Xu
The Institute of Robotics and Autonomous System, Tianjin Key Laboratory of Process Measurement and Control, School of
Electrical Engineering and Automation, Tianjin University, Tianjin 300072, China
E-mail: gjch@tju.edu.cn, xbin@tju.edu.cn, wangfu@tju.edu.cn, xu zhang@tju.edu.cn

Abstract: To provide a safe and efficient test for the autonomous control design of the unmanned helicopter, a 3 degree-of-
freedom (DOF) helicopter testbed is developed in this paper. The testbed uses a small electric hobby helicopter as the main
body, a digital signal processsor (DSP) is employed as the on-board micro control unit (MCU) for the attitude control of the
helicopter, a micro attitude and heading reference system (AHRS) is utilized as the main on-board sensor for attitude states
feedback and a Bluetooth module is mounted on the testbed to provide realtime wireless communication between the
helicopter and the ground control station (GCS). This paper investigates the servo actuators coordinated control method with
separate channel of the new- style electric helicopter, which is named as electronic collective-cyclic pitch mixing (ECCPM). A
modified digital incremental PID control algorithm which is free of servo actuators saturation issue is proposed for the attitude
control of the helicopter. Finally, experiment results are provided to verify the testbed and control design.

Key Words: Unmanned Helicopter, 3-DOF, Digital PID Control, ECCPM

1 ᓩ㿔 ջǃ⒥ǃ ⒮ 䕀 ǃ ൖ Ⳉ ㄝ 䖤 ࡼⱘࡼᗕ ᬜ ᵰDŽⳂ ࠡ ˈᐌ 㾘

⦄ҷ‫ܜ‬䖯 ᮴ Ҏᴎ ᰃ ϔ ⾡ 㺙 ໛њᖙ 㽕 ⱘ᭄᥂໘⧚ऩ Ⳉछ ᴎⱘ 亲 㸠 ῵ᢳ ᡔ ᴃᏆ 㒣 থሩ ᕫ↨ 䕗 ៤❳ˈⳌ ᇍ Ѣᐌ 㾘
‫ܗ‬ǃ Ӵᛳ఼ǃ 㞾 ࡼ᥻ ࠊ఼ҹ ঞ 䗮 ֵ ㋏ 㒳 ˈ‫݋‬᳝䕗 催 㞾 Џ∈ᑇˈ 㛑 Ⳉछ ᴎⱘ 䆩偠 ᡔ ᴃ 㗠㿔 ˈ᮴ Ҏ Ⳉछᴎⱘ 亲㸠
໳೼᮴ Ҏᑆ 乘 ⱘᚙ ‫މ‬ϟˈ 㞾 Џ 亲 㸠 ᑊ ᠻ 㸠 ӏࡵⱘ 亲 㸠 ῵ᢳ ᅲ偠 ᡔ ᴃ ᰃ ϔϾ↨䕗 ᮄ ⱘⷨお乚 ඳ ˈ ᅗ ᰃ ϔ⾡ҟ Ѣ 䅵ㅫ
఼DŽḍ᥂ ໪ᔶϢ޴ԩ 㒧 ᵘϡ ৠ ˈ ᮴ ҎᴎЏ 㽕 ߚЎ೎ ᅮ 㗐 ǃ ᮟ ᴎ᭄ؐӓⳳ ੠ぎ Ё 亲㸠䆩偠 П 䯈䖛⏵ⱘⷨお᠟
㗐ǃᠥ㗐ҹঞ ঞ݊ Ҫ 䴲 ᐌ 㾘 ᮴ Ҏ 亲㸠 ↉DŽЎњ 㛑໳ᅲ⦄᮴ ҎⳈछ ᴎⱘ ぎ Ё 㞾 Џ 亲㸠 ˈ೑‫ݙ‬
఼[1][2]DŽ ᮴ ҎⳈ छ ᴎ೼ᵘ 䗴 ᔶᓣϞ ሲ Ѣ ᮟ 㗐 ᮴ Ҏᴎˈ ໪ᕜ໮ ᄺ ᴃⷨ お ᴎᵘℷ೼ ⿃ ᵕᓔ ሩ᮴ ҎⳈछ ᴎ ഄ 䴶 亲 㸠
‫݋‬᳝೎ᅮ㗐亲 ᴎϡ‫݋‬໛ⱘ⣀⡍ⱘ ぎ Ё ‫ذ‬ǃ ൖ Ⳉ 䍋䰡 ῵ᢳ ᡔ ᴃⱘⳌ ݇ⷨお DŽ⏙ढ໻ ᄺֵᙃ⾥ᄺ Ϣ ᡔ ᴃ೑ ᆊᅲ偠ᅸᯞ ߬
੠໮࿓ᗕ 亲㸠㛑࡯DŽ ᮴ ҎⳈ छ ᴎ さ ߎⱘӬ⚍ৃҹ‫ خ‬Ԣ ぎ ㄝ ҎՓ⫼Quanser Consulting݀ৌⱘϝ 㞾
ǃԢ 䗳੠ᴎࡼ亲㸠 ˈ⡍߿ᰃ ᇣ䴶⿃എഄൖ Ⳉ䍋䰡 DŽ ⬅ᑺ 㒉߫ᓣⳈ छ ᴎ ᅲ偠 ᑇৄˈ෎Ѣ 剕 ẦLQR᥻ࠊ఼ᅲ
⬅Ѣ ᮴ ҎⳈछ ᴎⱘϔ㋏߫⡍⚍ˈ೼‫ݯ‬џϞৃҹ⫼Ѣᚙ ⦄њⳈ छ ᴎ࿓ᗕ 䔼䗍 ⱘ໻ᴎࡼ䎳䏾᥻]3[ࠊDŽ ᮄࡴവ
᡹㦋 প ǃպ ᆳ ⲥ 㾚 ǃ⬉ᄤᇍ ᡫ ǃ 䗮ֵЁ 㒻˗೼⇥⫼ᮍ 䴶 ˈৃҹ ೑ゟ ໻ᄺ Փ⫼Quanser Consulting݀ৌⱘϸ 㞾 ⬅ ᑺⳈ छ ᴎ
ᅲ⦄᧰㋶ᬥᧈǃ ぎ Ё 㟾 ᢡǃ 䌘⑤ ࢬ᥶ㄝ DŽ 䱣 ⴔ 䆩偠ৄ㒘 ᓎњ෎Ѣ 㔥㒰 ⱘ 偠 ᅲ ᅸ ᑇৄˈ೼䆹 ᑇৄϞ
᮴ ҎⳈछ ᴎ৘⾡⫼䗨 ⱘϡ ᮁ ᮁᠽ໻ ˈՓ݊Ꮖ 㒣 ៤ Ўϔ⾡ᮄൟ ⱘ ぎ ৃҹ 偠 䆕 PID᥻ࠊǃ῵ ㊞ ᥻ ࠊ੠LQR ㄝ ᥻ ࠊ⧚ 䆎 ੠ᡔ
Ё࡯䞣 ˈ೼৘Ͼ 乚 ඳথ᣹ ⴔ 䞡㽕԰⫼DŽ ᴃ[4]DŽᏈ 㽓 Espirito Santo 㘨䙺໻ᄺ Lucas V. Santana ㄝ
Ⳉछ ᴎⱘ 亲㸠῵ᢳ ᡔ ᴃ ᰃ Ⳉछ ᴎⷨお䴲 ᐌ 䞡㽕 ⱘ ‫ݙ‬ᆍ Ҏ Փ⫼TREX 450 㟾῵Ⳉ छ ᴎ ᨁ ᓎњ ಯ 㞾⬅ᑺ ᮴ ҎⳈ छ
DŽᐌ 㾘 Ⳉछ ᴎⱘ 亲㸠䖤ࡼഄ 䴶῵ᢳ㋏㒳໻໮᭄Ў ᴎ 亲㸠᥻ࠊᑇৄˈৃҹ ᅲ⦄亲㸠࿓ᗕ੠催 ᑺ ᮍ৥ⱘ 㞾
݁㞾⬅ᑺⱘ⎆य़ 䖤ࡼ㋏㒳 ˈ ᅗ㛑໳῵ᢳⳈ छ ᴎ‫ކ׃‬ǃ ⬅ 䖤 ࡼDŽ 亲 㸠 ࿓ᗕⱘֵᙃ 㦋 প 䞛 ⫼ ෎ѢIMUֵᙃ 㵡 ড়
∗
ⱘ ᮍ ᓣ 䖯㸠࿓ᗕԄ 䅵 ˈՓ⫼PIDⱘ᥻ ࠊᮍ ᓣ ᅲ⦄ ᮴ ҎⳈ
෎䞥乍 Ⳃ˖೑ᆊ㞾✊⾥ᄺ෎䞥˄60804004ˈ90916004˅ˈᬭ 㚆䚼 Āᮄ छᴎⱘ ‫]᥻ذ‬5[ࠊDŽ⊩೑Joseph Fourier໻ᄺ TIMC ᅲ偠ᅸ
Ϫ 㑾”Ӭ⾔Ҏᠡᬃᠡᬃᣕ 䅵 ߦ˄NECT-09-0590˅.
∗∗ J.C. Avila Vilchis ㄝ Ҏ෎ѢVARIO 㟾῵Ⳉ छ ᴎ ᨁ ᓎњ
剰᭠Ў 䗮䆃԰㗙

1
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ϝ 㞾⬅ᑺ 亲㸠偠 ᅲ偠 ᑇৄˈ 䗮䖛䆺㒚 ⱘ ᮟ 㗐ぎ⇨ ࡯ࡼᄺ
ߚᵤᓎ ゟ њⱘ ᮴ ҎⳈ छ ᴎϝ 㞾 ⬅ ᑺ ᢝ Ḑᳫ ᮹ 䴲 㒓 ᗻ ㋏ 㒳
῵ൟ ˈᑊՓ⫼ ⫼᭄ ӓؐ ⳳ ੠亲㸠䆩偠偠䆕 њ῵ ൟ ⱘ‫ޚ‬
⹂ᗻ[6]DŽ
Ⳃࠡ
ˈ೑‫ݙ‬
໪
݇Ѣϝ 㞾⬅ᑺ᮴ҎⳈछᴎ᥻ ࠊᮍ⊩ ⱘⷨお Џ 㽕䲚
Ё೼Փ⫼Quanser݀ৌⷨࠊⱘ⹀ӊ೼⦃ӓ
ⳳᑇৄᅲ⦄᮴ ҎⳈ छ ᴎⱘ 亲㸠࿓ᗕ᥻ ࠊˈ 䆹 ϝ 㞾⬅ᑺ
᮴ ҎⳈ छ ᴎᑇৄϢᐌ 㾘 ᮴ ҎⳈ छ ᴎⱘ 㒧 ᵘ੠᥻ࠊᮍ ᓣ
᳝䕗໻Ꮒ 䎱 ˈ 㗠 Ϩ⹀ӊ೼⦃ӓⳳᑇৄгϡ֓ѢⳈ᥹ ᇚ
᥻ࠊ㋏㒳⿏ỡࠄ᮴ ҎⳈ छ ᴎϞ 㗠ᅲ⦄ぎ Ё 㞾 Џ 亲㸠 DŽ
Ўњ 㛑໳ᅲ⦄ᇣ ൟ᮴ҎⳈ छ ᴎⱘ 㞾 Џ ᅝܼ亲㸠 ˈᴀ᭛
෎ѢTREX 450 ᇣ ൟ⬉ࡼ㟾῵Ⳉ छ ᴎ 䆒䅵 ᨁ ᓎњϔϾϝ 㞾
⬅ ᑺ 亲 㸠 ᥻ ࠊ㋏ 㒳 ᅲ 偠 ᑇৄDŽ 䆒 䅵 䆹 ᑇৄⱘⱘ Ⳃⱘ ᰃ ೒ 1: തᷛ㋏㸼⼎
ЎњՓⳈ छ ᴎ೼ϔ ᅮ㣗ೈৃ ‫ ݙ‬ҹᣝ✻ᅲ䰙 ⱘ 亲㸠࿓ᗕ 㞾⬅亲㸠
ˈߎ⦄ᬙ 䱰 ᯊ ˈ 㛑ֱ 䆕 Ⳉ छ ᴎ ᅝܼⴔ 䰚 ˈҹ 㓽 ⷁ਼ⷨ
਼ࠊᳳ ǃ 㡖㑺ⷨ
お 㒣 䌍 DŽϝ 㞾 ⬅ ᑺⳈ छ ᴎ 亲 㸠 ᅲ 偠 ᑇৄ 㒧 ᵘ ㅔ ऩ
ˈ ៤ ᴀԢᒝˈϢᐌ 㾘 ᮴ ҎⳈ छ ᴎⱘ 㒧 ᵘ੠᥻ࠊᮍ ᓣ᳈ࡴⳌ 3 ϝ 㞾⬅ᑺ ᅲ偠 ᑇৄ㋏㒳 ᶊᵘ
䖥 DŽ෎Ѣ 䆹 ᑇৄৃҹ 䆒䅵偠䆕
᮴ ҎⳈ छ ᴎ 亲 㸠 ࿓ᗕ᥻ ࠊㅫ ⊩ ˈ 㗠 Ϩ⹀ӊϞৃҹϡ‫ خ‬ᬍࡼ㗠 3.1 TREX 450⬉ࡼⳈ छ ᴎᴀԧ
Ⳉ᥹䖯㸠݁㞾⬅ᑺ ぎ Ё 㞾 Џ 亲㸠䆩偠 ˈ 䖭 ህ Ў Ҟৢⱘⷨお䆩 ᴀ᭛ 䗝 ⫼ৄ
⫼ৄ⑒ Ѯ ৌ
݀ৌ
ᢧৌ ⫳ ѻⱘ ൟ
ো ЎTREX 450 S-
偠 ᦤ կњ ᮍ֓DŽ PORT ᇣ ൟ⬉ࡼ㟾 ῵Ⳉ छ ᴎЎ ԰Ў᥻ ࠊᇍ 䈵 [8]ˈ 㟾 ῵Ⳉ
2 ᮴ ҎⳈ छ ᴎ࡯ࡼᄺ῵ൟ छ ᴎ 䞛⫼ᮄൟ ⱘ⬉ᄤ᥻ࠊᓣᏂߚ㶎䎱⏋ড়᥻ ࠊ㒧 ᵘ
㕢೑फ ᓫ 㔫䞠䖒໻ᄺ Ioannis A. Raptis ㄝ ҎՓ⫼ ㅔ ˄ECCPM˅ˈབ೒2᠔ ⼎ DŽࡼ݊ ݊ ࠊ⚍ҹ120◦ ། 㾦 ߚᏗѢ क ᄫ ⲬϞˈҹ
࣪ⱘ࡯Ϣ࡯ⶽߚᵤˈᕫࠄᇣ ൟ᮴ҎⳈ छ ᴎᑇ⿏䖤ࡼ੠ 㒩䋼 ᖗ 㠉 ᴎⳈ᥹ 偅 ࡼक ᄫ Ⲭˈ 䗮 䖛 䘹 ᥻ ఼ⱘ⬉ ᄤ ⏋ ᥻ ˈ ᅠ
䕀 ࡼⱘ 䴲㒓 ᗻ࡯ࡼᄺ῵ൟ[7]DŽ῵ൟ ᇚ ᮴ҎⳈछ ᴎ 㾚 ៤ ϝϾ 㠉 ᴎⱘ ण 䇗ࡼ԰ˈ ᅲ⦄क ᄫ Ⲭⱘࠡ
Ўᴎ 䑿 ੠ᮟ 㗐 ⱘ ঠ߮ ԧ 㒧 ᵘˈЎњ ᮍ֓ 䖯 㸠 ᭄ ᄺ ߚᵤˈ߮ԧⱘ 䖤 ৢǃᎺে㗏䕀 ҹ ঞछ 䰡 ⱘࡼ԰ˈे㒉
ࡼᮍ⿟ᅮ Н೼ϸϾ খ 㗗 തᷛ㋏ϟˈߚ ਼ ᳳ৥਼ ব
਼ 䎱 ǃ῾
߿Ўᛃᗻ തᷛ㋏FI = {OI ,→xI ,→yI ,→zI }੠ᴎԧ തᷛ㋏FB = ਼ ৥਼ব
਼ᳳ 䎱 ੠ᘏ 䎱 ⱘ᥻ ࠊ
{OB ,→xB ,→yB ,→zB }ˈതᷛॳ⚍OB ԡѢ ᮴ ҎⳈ छ ᴎⱘ 䞡 ᖗԡ 㕂 DŽECCPMⳌ↨Ӵ 㒳 ᴎẄ⏋᥻ 㒧 ᵘ˄MCCPM˅ˈᴎẄ 㒧 ᵘ
ˈ തᷛ㋏㸼⼎བ೒ 1 ᠔⼎DŽ ᮴ ҎⳈ छ ᴎᑇ⿏䖤ࡼⱘࡼ ㅔ ऩ ˈ 㠉 ᴎ 䋳 ᢙ ᇣ ˈ᥻ࠊ㊒ ᑺ 催 ˈԚ 㠉 ᴎⱘ⏋᥻ ᅲ⦄䍋
࡯ᄺ῵ൟ ൟ᭄ᄺ㸼䖒 ᓣЎ˖ ᴹ↨䕗໡ᴖˈ 䖭 ህ๲ࡴњ Ⳉ छ ᴎ 㞾ࡼ亲㸠᥻ࠊⱘ 䲒 ᑺDŽ

mv˙I = −KMRe3ucol + mge3 (1)

㸼䖒 ᓣ(1)ЁˈvI = vz vy vz T ∈ R3 㸼⼎᮴ ҎⳈ छ
ᴎ೼ᛃᗻതᷛ㋏Ёⱘ 㒓䗳 ᑺ৥䞣 ˈKMᰃЏᮟ 㗐 छ࡯㋏
᭄ˈe3 =[ 0 0 1 ]T ˈucol 㸼⼎ᘏ 䎱᥻ ࠊ䕧ܹˈᮟ 䕀 ⶽ 䰉 R
㸼⼎᮴ ҎⳈ छ ᴎᴎԧ തᷛ ㋏ ࠄᛃᗻ തᷛ ㋏ ⱘᑇ⿏ 䖤ࡼ䕀 ᤶⶽ
䰉 ˈ᭄ᄺ㸼䖒 ᓣЎ˖
⎡ ⎤
CψCθ −SψCφ + Cψ Sθ Sφ Sφ Sψ + Cφ SθCψ
R = SψCθ CφCθ + SφCθ Sψ −Cψ Sφ + Sψ ⎦ ೒ 2: ECCPM 㒧 ᵘ[8]
⎣ SθCφ
−Sθ Cθ Sψ CθCφ (2)
݊ЁS∗ = sin( ) ˈC∗ = cos( ) ˈφ ǃθ ǃψ ЎϝϾ⃻ ᢝ 㾦 ˈ ձ⃵ ⿄Ў⒮䕀㾦 ǃ‫׃‬ӄ 㾦੠‫أ‬㟾㾦 DŽ ḍ᥂ 䘹 ᥻ ఼ֵোˈৃҹ 䖯 㸠 ECCPM 㒧 ᵘⱘ 㟾 ῵Ⳉ
᮴ ҎⳈ छ∗ᴎ 㒩䋼 ᖗ 䕀ࡼⱘ࡯ࡼᄺ῵ൟ ∗ ൟ᭄ᄺ㸼䖒 ᓣ छ ᴎϝϾ 㠉 ᴎ ण 䇗ࡼ԰ⱘ 㾷ㅫ ˈे䗮䖛᪡ 㒉䘹 ᥻఼‫ ׃‬ӄ 䗮䘧
Ў˖ ǃ⒮䕀䗮䘧੠ᘏ 㶎䎱 ˈᕫࠄ䘹᥻఼ᴚ 䞣 ᠔ ᇍ ᑨ
Iω˙ B = −ω B × Iω B + A (ucol ) vc + Bucol (3) ↣Ͼ 㠉 ᴎࡼ԰ⱘPWM 偅ֵ ࡼ
ֵ োⱘ ऴ ぎ↨ˈ 䖯㗠㾷ㅫ ߎ
㸼 䖒 ᓣ(3)Ёˈ ωB = ωx ωy ωz T R3 㸼 ⼎ ৘ 䗮 䘧 ϝϾ 㠉 ᴎࡼ԰ 䞣 П 䯈 ⱘ݇ ㋏ ˈҹ֓Ѣ ᮴ ҎⳈ छ ᴎⱘ 㞾
Џ᥻ ࠊDŽ෎Ѣ ᅲ偠᭄᥂䖯㸠㒓 ᗻᢳ ড় ˈৃҹ 偠 䆕 ϝϾ 㠉 ᴎ
᮴ Ҏ Ⳉ छ ᴎ ೼ ᴎ ԧ ത ᷛ ㋏ ϟ ⱘ ᮟ 䕀 㾦 䗳 ᑺ৥ ∈ ࡼ԰䞣 П 䯈 ⱘ݇㋏Ϣ޴ԩߚᵤϔ Ⳍϔ 㟈 ˈे
䞣 ˈ I 㸼 ⼎ ᮴ ҎⳈ छ ᴎ ݇ Ѣ ᴎ ԧ ത ᷛ ㋏ ⱘ 䕀 ࡼᛃ 䞣 ⶽ 䰉 ˈ ೼ֱᣕᘏ 䎱 ԡѢৃҹՓ ᮴ ҎⳈ छ ᴎ ໘ Ѣ ‫ذ‬⢊ᗕⱘЁᖗԡ 㕂 ᚙ‫މ‬ϟ
×
A (ucol) ∈ R3 3 㸼 ⼎ ݇ Ѣ
ѢѢ ⬠ ⱘ᥻ ࠊ䕧 ˈ῾਼ᳳ
਼ ৥਼ব 䎱 ⱘ᥻ ࠊ㽕∖ᎺেϸϾ 㠉
ܹucolⱘϔϾৃ䗚 ⶽ 䰉 ˈ᳝B ∈ R3 1 㸼⼎ϔϾখ ᴎ ৠᯊ৥ Ⳍ ড৥ ᮍ৥ ࡼ԰ৠ ḋⱘ 䞣 ˈ 㗠ৢ㠉 ᴎֱᣕϡࡼ˗ 㒉
×
খ ᭄ⶽ
਼ ৥਼ব
਼ᳳ 䎱 ⱘ᥻ ࠊ㽕∖ᎺেϸϾ 㠉
vc = ulat ulonT uped
䰉ˈ 㸼⼎ ᴎ৥Ⳍ ৠ৥ᮍ৥ ࡼ
਼῾਼ᳳ
਼ᳳ਼ ৥਼ব৥਼ব 䎱 ҹ ঞሒ 䎱᥻ࠊ䕧ܹDŽ 䎱ǃ㒉 ԰ৠ ḋⱘ 䞣 ˈ 㗠ৢ㠉 ᴎ৥Ⳍ ড ⱘ ᮍ৥ࡼ԰2‫ס‬ѢᎺে㠉

2
Authorized licensed use limited to: Air University. Downloaded on December 27,2022 at 17:03:02 UTC from IEEE Xplore. Restrictions apply.
ᴎⱘࡼ԰䞣 DŽ‫݋‬ԧⱘ᭄ᄺ㸼䖒 ᓣЎ˖ Ⳉ छ ᴎ 䕑 䞡 䞣 ҹ ঞ ㋏ 㒳 ៤ ᴀⱘ 㽕 ∖ ˈᴀ᭛ Փϸ⫼ϸ⠛⠛ 䕧
ߎ⬉य़ 5V 䕧 1⌕⬉ߎAⱘԢ य़ 䰡 ⬉ य़ব বᤶ ᤶ 㢃 ⠛˄DC-
Δulat = Δul = Δur, Δub = 0
DC˅LM2940ˈ ߚ߿㒭 MTi-G࿓ᗕӴᛳ఼੠DSP᥻ࠊᵓ
Δulon = Δul = −Δur = − 1 Δub (4)
2
կ⬉DŽ 䆹 ൟ⬉य़ব ব࣪ ব఼࣪ 䕀ᤶᬜ⥛ᕜ 催 ˈ থ⛁䞣䴲 ᐌ ᇣ ˈ
ϞᓣЁˈΔulat ǃΔulon ߚ߿㸼⼎῾৥੠ 㒉৥䗮䘧 ⱘ᥻ ࠊ 䕧ܹ๲ ෎ᴀৃҹϡ 㗗㰥㢃⠛ⱘ ᬷ⛁ 䆒䅵 ˈ‫ޣ‬䕏 њ㋏㒳 ⱘ 䞡䞣 ⬭ ᑊϨг⬭ϔᅮ
䞣 ˈΔul ǃΔurǃΔub ߚ߿㸼⼎Ꮊ 㠉 ᴎǃে㠉 ᴎǃৢ 㠉 ᴎⱘ᥻ ࠊ ⱘ 䆒䅵 ԭ 䞣 DŽ ᳝
䕧ܹব࣪ ࣪ 䞣 ˈℷ 䋳ো⬅㠉 ᴎⱘ ᅝ㺙 ᮍ ԡ‫ އ‬ᅮ DŽ 3.3 ᅲ偠ৄᶊ
3.2 亲㸠᥻ࠊ㋏㒳⹀ӊᵘ ៤ ᅲ偠ৄᶊЏ 㽕⬅ᴎᶊ੠ϛ৥䕀ࡼᴎᵘᵘ ៤ ˈᴎᶊ
3.2.1 ᖂ ൟ 㟾৥࿓ᗕ খ 㗗㋏㒳(AHRS) ࣙᣀ෎ᑻ੠ゟ ᴚϸ 䚼 ߚˈ෎ᑻᔶ⢊Ўϝঝᔶˈ 乊ッ೎ ᅮ㶎ᷧৃҹ
䇗 ৄᶊⱘ∈ᑇ 䴶 ˈ෎ᑻϢ ゟ ᴚ 䗮䖛⊩݄ ⊩ Ⲭ 㶎㒍㋻೎DŽϛ৥䕀
ᴀ᭛䗝⫼ 㥋㥋݄ Xsens⾥ ݀ᡔৌ
ৌ ⷨ ࠊ ⱘMTi-Gᖂ ࡼᴎᵘࣙᣀ˖Ϟ 䕈 ᡓ ᑻ੠ϟ 䕈 ᡓ ᑻᵘ ៤ ⱘ 䕈 ᡓ ᑻ 㜨 ԧˈ 䭊 ጠ೼ 䕈 ᡓ
ൟ 㟾৥࿓ᗕখ 㗗 ㋏ 㒳 ԰Ў᮴ Ҏ Ⳉ छᴎⱘ࿓ᗕӴᛳ 㜨 ԧᑻЁⱘ⒮ࡼ䕈 ᡓ ˈ⛞᥹ ೼⒮ࡼ䕈 ᡓ Ϟⱘ ᩥ 㶎 ᴚDŽ 䕈 ᡓ ᑻ
ᬃ
㜨ᬃ ᩥԧ 㶎 ᴚϔջ ਜু
୛ু ᓔ ষ⢊ˈҹ֓Փ ᮴ ҎⳈ छ ᴎ‫݋‬᳝䎇 ໳ ⱘ
఼[9]DŽMTi-G 䲚 ៤ њGPS੠IMUˈ‫৿ݙ‬MEMSᛃᗻӴᛳ 䕀ࡼ㾦 ᑺˈ ᩥ 㶎 ᴚϢ ゟ ᴚ 䗮䖛㶎㒍䖲᥹೎ᅮ೼ϔ 䍋 DŽ ゟ
ᬃ
఼ˈ ᇣ ൟ GPS᥹ᬊ ᴎҹ ঞ ϔѯ 䕙ࡽⱘӴᛳ఼˄ϝ 㓈⺕ ᴚϞ ッ ৃҹ๲ࡴ䰤 ᐙᴎᵘˈ 䰤 ࠊ᮴ ҎⳈ छ ᴎⱘ 䕀 ࡼ㾦
࡯䅵 ੠ 䴭 य़Ӵᛳ఼˅DŽ MTi-Gৃ 䕧 ߎ෎ѢWGS84Ϫ⬠ തᷛ ᑺDŽ೼Ϟ 䕈 ᡓ ᑻⱘ 㸼䴶䗮䖛 ಯ Ͼ 㶎 ᷧ ೎ᅮ ϔϾ ᑇ 䴶䪱 ᵓ
㋏ϟⱘϝ 㓈 ԡ 㕂ֵᙃҹ ঞ ϝ 㓈࿓ᗕ㾦ֵ ᙃ ˈ݊ Ё⒮䕀੠‫׃‬ӄ 㾦 ⱘ 䴭 ˈᑊ ᡞᬍ 㺙ৢⱘ ᮴ ҎⳈ छ ᴎⱘ 䍋㨑 ᶊ೎ᅮ೼ ᑇᵓϞDŽᔧ 䖯㸠
ᗕ㊒ᑺЎ0.5◦ˈ 㟾৥㾦 ⱘ 䴭 ᗕ 亲㸠䆩偠 ᯊ ˈ ᮴ ҎⳈ छ ᴎᏺ ࡼϛ৥䕀
ࡼᴎᵘ 䍋亲 ˈ 㛑 ҹ⧗䕈 ᡓᵘ៤ⱘ⧗ ⧗݇㡖 Ў⧗ᖗ‫خ‬ϔˈ Ͼ ফ 䰤 ࠊⱘ⧗䴶
㊒ᑺЎ1◦DŽMTi-G 䲚 ៤ ᑺ 催 ǃৃ䴴 ᗻ ད ǃԧ⿃ᇣ ǃࡳ 䖤ࡼˈ ᅲ⦄᮴ ҎⳈ छ ᴎ 亲㸠 ᠔ 䳔㽕 ⱘ
㗫 Ԣˈ 䞡䞣 ҙЎ68gˈ կ⬉⬉य़ Ў5-30Vˈ ‫݌‬ൟࡳ㗫 ‫׃‬ӄǃ⒮䕀 ǃ‫أ‬㟾ㄝ৘⾡࿓ᗕˈ⒵䎇 Ⳉ छ ᴎⱘϝ 㓈࿓ ᗕ೼ϔ ᅮ ব࣪
Ў610mWˈ 䗮䆃 ᮍ ᓣЎRS-232І 㸠᥹ষ ˈ 䞛 ḋ᭄᥂᳈ 㣗ೈ‫ ⱘݙ‬㞾⬅亲㸠 DŽ
ᮄ⥛Ў100HzDŽ

3.2.2 亲㸠᥻ࠊ఼
ᴀ᭛ 䗝 㕢 ⫼ 㕢 ೑ᖋᎲҾ఼˄Texas Instruments˅݀ৌ
ⱘTMS320F28335 DSP ໘⧚఼ 䆒䅵 ᮴ ҎⳈ छ ᴎ 亲㸠࿓
ᗕ᥻ ࠊ఼[10]DŽTMS320F28335 䖤 ㅫ ໘⧚ 㛑 ࡯ᔎˈ 䕧 ܹ
䕧ֵߎো䫒䏃ᅠ໛ˈՓ៥ӀৃҹҙՓ⫼ϔѯ ㅔ ऩ ⱘ᥹ ষ 䘏䕥㢃⠛
ˈ֓ৃҹ⒵䎇 ᮴ҎⳈछᴎ
ᷛ 亲㸠᥻ࠊ఼ⱘ 䆒䅵㽕∖ˈ᳔ 㒜ᅲ⦄䯁⦃㋏
㒳 ⱘ᥻ ࠊⳂDŽ ᷛ 亲 㸠 ᥻ ࠊ఼ ᵓ ᦤ կϸϾRS232᥹ষৃҹϢᛃ ᇐ
੠㪱⠭῵ ഫ Ѧ 䖲 ˈՓ
⫼⠛‫ⱘݙ‬CAP῵ഫ ᅲ ᯊ 䞛䲚᥹ᬊ ᴎⱘ 䕧ֵߎো˄䗝⫼
᥹ᬊ ᴎ᳾ ऴ ⫼ⱘϔ 䏃ֵো԰Ў ᠟㞾 ߛࡼᤶ䗮䘧˅ˈ 䗮䖛⠛
‫ⱘݙ‬PWMֵো䕧 ߎ䗮䘧䕧 ߎPWM 㠉 ᴎֵֵࠊোDŽ
᥻ࠊᵓЏ 㽕ᅲ⦄᮴ ҎⳈ छ ᴎⱘ 㞾 Џ᥻ ࠊҹ ঞ 亲㸠䖛⿟Ё᠟
㞾ࡼ᥻ࠊߛᤶⱘࡳ㛑 DŽ

3.2.3 ᮴ 㒓᭄᥂Ӵ 䕧῵ഫ

Ўњ 㛑໳ᅲ ᯊ ⱘⲥ⌟᮴ ҎⳈ छ ᴎⱘ 亲㸠 ⢊ᗕ ֵ ᙃǃথ 䗕
᥻ࠊᣛҸҹঞ᳈ᬍ᥻ ࠊ఼ⱘ 䜡㕂᭄᥂ˈ 䳔㽕 ᵘ ᓎ ഄ 䴶᥻ࠊ
キ DŽᴀ᭛䗝⫼І ষ 㪱⠭䗖䜡఼԰Ўᑇৄⱘ
᮴ 㒓᭄᥂Ӵ 䕧῵ഫ ˈ݊Џ 㽕ࡳ㛑 ᰃ 䗮䖛㪱⠭᮴ 㒓᭄᥂ Ӵ ೒ 3: ϝ 㞾⬅ᑺ ᅲ偠 ᑇৄ
䕧 ᴹ᳓ҷІ ষ 䗮ֵ㒓㓚 ˈ ᅲ⦄ഄ 䴶キ Ϣ 亲㸠᥻ࠊ఼ ⱘ ᮴ 㒓᭄
᥂ѸѦDŽ῵ഫ 䗝⫼CSR 㪱⠭2.0+EDR 㢃⠛ˈ 䇗
ࠊᮍ ᓣЎ2.4GHzⳈᑣ 䇗乥 ˈ 䗮ֵ䗳᳔ ᳔ ᖿЎ115200bpsˈ 䗮ֵ䎱⾏
⥛ 3.4 ㋏㒳 ᭈ ԧᶊᵘ
Ўᓔ ᬒ ぎ䯈 15mˈ থ ᇘࡳ⥛Ў3dBmˈЎᴀ᭛ ⱘϝ 㞾 ḍ᥂ ᅲ偠ᅸⷨお䳔㽕 ˈЎњ ᅲ⦄᮴ҎⳈछᴎⱘ࿓ ᗕ᥻ ࠊ
⬅ᑺ ᮴ ҎⳈ छ ᴎ 亲㸠ᅲ偠 ᑇৄᦤ կњϔ⾡ㅔ ऩ ᖿ ᥋ ⱘ ᮴ ˈ៥Ӏ 㞾㸠䆒䅵 ᵘᓎњϔ༫ ᅠ ᭈⱘ᮴ҎⳈछᴎ 亲㸠᥻ࠊ㋏㒳ᅲ
㒓 І ষ 䗮ֵ㾷 ‫އ‬ᮍ ḜDŽ 偠 ᑇৄˈ བ೒ 3 ᠔ ⼎ DŽ 亲 㸠 ᥻ ࠊ㋏ 㒳 ᅲ 偠 ᑇৄ⬅ϝ 㞾
⬅ᑺ ᮴ ҎⳈ छ ᴎ ᅲ偠 ᑇৄ੠ഄ 䴶᥻ࠊ キ ϸ 䚼 ߚ㒘 ៤ ˈϝ
3.2.4 ⬉⑤ 䆒䅵 㞾⬅ᑺ ᅲ偠 ᑇৄ ࣙ ᣀ ᮴ ҎⳈ छ ᴎᴀ
ԧǃ 亲㸠࿓ᗕ᥻ࠊ㋏㒳੠ᅲ偠ৄᶊϝ 䚼 ߚˈ݊Ё 亲㸠
ḍᴎ
᥂ᴎ 䕑亲㸠᥻ࠊ㋏㒳 ⱘ⬉ ⫼⬉ 䳔∖ҹ ঞ㋏㒳 ⱘ ࿓ᗕ᥻ ࠊ㋏㒳ᅝ㺙೼᮴ ҎⳈ छ ᴎᴎ 䑿 Ϣ 䍋㨑 ᶊП 䯈 ˈ
ৃ䴴 ᗻ 㽕∖ˈ ៥ ӀՓ⫼ϔ ഫ⣀ゟ ⱘ7.4V 2S 1900mAh Li- ⬅MTi-Gᖂ ൟ 㟾৥࿓ᗕ খ 㗗㋏㒳 ǃ 亲㸠࿓ᗕ᥻ ࠊ఼ᵓ
Po⬉∴㒭 ᠔᳝ ⱘᴎ 䕑亲᥻㋏㒳 կ⬉DŽ 㗗㰥 ࠄ᮴ Ҏ ҹ ঞ 㪱⠭᮴ 㒓᭄᥂Ӵ 䕧῵ഫ 㒘 ៤ DŽ ഄ 䴶᥻ࠊキ Џ
㽕
⬅ϔৄPCᴎᵘ ៤ ˈЏ 㽕 ӏࡵᰃ ᅲ⦄ᴎ 䕑㋏㒳 Ϣ ഄ 䴶

3
Authorized licensed use limited to: Air University. Downloaded on December 27,2022 at 17:03:02 UTC from IEEE Xplore. Restrictions apply.
⫼᠋ҹ ঞ᪡ ԰Ҏ ਬ П 䯈 ⱘ ᳝ ᬜ 䗮ֵDŽ ഄ 䴶᥻ࠊキ෎ ⡍ᗻǃ 亲㸠῵ᗕ໮ǃ 催䰊࡯ࡼᄺ⡍ᗻ ᇍ᪡㒉 ક 䋼 ᕅ ડ
ѢMatlabⱘRTW ᅲ ᯊ⦃๗ ᓔ থ᮴ ҎⳈ छ ᴎⱘ⢊ᗕⲥ᥻ ໻ҹ ঞᡫ ᑆ ᡄ 㛑 ࡯Ꮒ ㄝ ᮍ 䴶 DŽ✊ 㗠 ˈ ᮴ ҎⳈ छ ᴎ೼ 
⬠ 䴶 ˈৃҹ ᅲ ᯊ೼ 㒓 ᰒ ⼎ ᑊⲥ᥻ ᮴ ҎⳈ छ ᴎⱘ 亲 㸠 ⢊ ‫ذ‬੠Ԣ 䗳ࠡ 亲 ⱘ⢊ᗕϟˈৃҹᗑ⬹㒉৥䗮䘧
῾ П 䯈 ⱘ 㗺 ড়ˈ⫼䆹⡍⚍
ᗕֵᙃDŽ ᮴ ҎⳈ छ ᴎᴎ 䕑 ㋏ 㒳 ੠ഄ 䴶 ᥻ ࠊキ 䗮 䖛 㪱 ⠭ ˈৃҹ 䞛 প῾㒉৥ߚᓔ 䆒䅵᥻ࠊ఼ ⱘࡲ⊩ˈ 䖭 ᵕ໻䰡߽Ԣњ᥻
ᅲ⦄᮴ 㒓᭄᥂䗮ֵˈ 䖭 ḋৃҹֱ 䆕 ϝ 㞾⬅ᑺ ᅲ偠 ᑇৄ Ϣ ഄ 䴶 ࠊ఼ⱘ 䰊⃵ˈՓᕫ᥻ ࠊ఼ⱘ
キ೼⠽⧚㒧 ᵘϞѦ ⳌѦ
⣀⣀ ゟ DŽ ৃᅲ⦄ᗻ໻໻๲ࡴDŽ᠔ҹˈߚ䗮䘧䆒䅵᥻ࠊ఼೼᮴Ҏ
ᴀ᭛䆒䅵 ᨁ ᓎⱘϝ 㞾⬅ᑺ 亲㸠᥻ࠊ㋏㒳䆩偠 ᑇৄ Ⳉ छ ᴎ 亲㸠᥻
‫݋‬᳝㒧 ᵘ ㅔ ऩ ǃᯧѢ ᅲ⦄ǃ ៤ ᴀԢᒝǃ⿏ࡼᮍ֓ㄝ Ӭ ࠊ Ё᳝Ё᳝ⴔ⊯ᑨ
⊯ⱘ
ᑓ
Ё᳝ ⱘЁ᳝⫼
ᑨ⫼ [14]DŽ
⚍DŽ⫼䆹 ᑇৄˈৃҹ೼ ᅲ 偠 ᅸ ᴵӊϟ໡⦄᮴ ҎⳈ छ ᴎⱘ 亲㸠 ⬅Ѣ ᮴ ҎⳈ छ ᴎⱘ࡯ࡼᄺ῵ൟकߚ໡ᴖˈᓎ ゟ݊
ᚙ‫ˈމ‬ᕜ߽ᮍ֓ⱘ 䖯 㸠 ࿓ᗕ᥻ࠊǃ 亲 㸠 ᥻ ࠊ੠ ᇐ 㟾 ㄝ ⾥ ᄺ ⷨお ࡼᗕ῵ൟ Ꮉ԰ 䞣 ᕜ໻ˈ✊ 㗠 ㅔ ⢊ ࣪ ᗕ ব䞣П䯈ⱘ㗺ড়
DŽ෎Ѣ 䆹偠 ᅲ偠 ᑇৄˈৃҹ᳝ ᬜ 䰆ℶ⬅ Ѣ 㟾῵᪡԰᠟᪡԰༅䇃 ˈৃҹᕫࠄㅔ࣪ⱘ 䕧ܹ䕧 ߎব 䞣 П 䯈 ⱘЏ 㽕݇㋏བ 㸼 1 ᠔⼎DŽᴀ᭛
៪㗙᥻ࠊㅫ⊩༅ᬜ ㄝ ॳ಴᠔ 䗴 䆒䅵 ⱘϝ 㞾⬅ᑺᑇৄ㑺 ᴳњ ᮴ ҎⳈ छ ᴎ ⱘᴎԧᑇࡼˈ ᠔ ҹ ៥ Ӏ೼
៤ ⱘ ഴ ᴎџ ᬙথ⫳ˈᕜ ད ⱘֱ䆕 њ ᮴ ҎⳈ छ ᴎ 亲㸠䆩偠 ⱘ ᅝܼ 䆒䅵᥻ࠊ఼ᯊ ˈা䳔㽕 ߚᵤ
ᗻDŽ ᮴ҎⳈछᴎⱘ 亲㸠࿓ᗕ࡯ࡼᄺ⡍ᗻˈҢ 㗠ᅲ⦄ ᮴ҎⳈ छ ᴎⱘ
4 䕃 ӊ㋏㒳䆒䅵 亲㸠࿓ᗕ 㞾 Џ᥻ ࠊDŽЎњ ᬍ୘᮴ ҎⳈ छ ᴎ᥻ ࠊ
4.1 ᭄᥂㒧 ᵘ ㋏㒳 ⱘࡼᗕᗻ 㛑 ˈ᳝ ᬜⒸ䰸催乥ాໄ ˈᴀ᭛Փϡ ⫼ϡ ᅠ
ܼᖂߚⱘPID᭄ᄫ๲䞣 ᓣ᥻ࠊㅫ⊩ [15]DŽ᥻ࠊㅫ⊩ⱘ෎
খ 㗗 MTi-Gѻ ક᭛ ḷ ᇍ ᑩ ሖ 䗮䆃 ण 䆂 ⱘ 㾘ᅮ[11]ˈ 䕃 ᴀ ॳ⧚ᰃ೼ Ӵ 㒳 ⱘPID᥻ࠊ఼ⱘᖂߚ⦃㡖 Ϟ๲ࡴϔϾ Ԣ 䗮
ӊ೼᭄᥂㒧 ᵘⱘ ᅲ⦄Ϟ ᇍ ⍜᳝ ᙃഛ 䞛㒧
⫼㒧 ᵘԧ ㉏ Ⓒ ⊶ ఼ˈ 䖭 ḋৃҹ᳝ ᬜᬍ୘ᖂߚ乍 ᇍ Ѣᑆ ᡄ⡍߿ ᬣ ᛳⱘϡ 䎇
ൟব 䞣 ⱘ ᅮ Нᮍ⊩ˈձ⍜
᥂⍜ᙃᙃϡ ৠ ᄫ↉ ⱘ৿Нঞ ᄫ䭓 ˈ DŽϡ ᅠܼᖂߚPID ㅫ⊩ⱘӴ 䗦 ߑ᭄Ў˖
ᅮ Н៤ 㒧 ᵘԧЁⳌᑨ ㉏ ൟⱘ៤ਬˈҹ֓Ѣৢ㓁䖯㸠᭄
U (s) = UP (s) +UI (s) +UD (s) = (KP + KP /TI
+ KP TD s
)E(s)

᥂⍜ᙃⱘ໘⧚㾷 ᵤDŽᔧMTi-G໘Ѣ⌟䞣⢊ᗕᯊˈ 䗮䖛 І s 1+Tf s

(5)
ষ৥᥻ ࠊᵓথ 䗕乥⥛Ў100Hzⱘ᭄᥂⍜ᙃᑣ߫ˈ⬅Ѣ 䳔㽕 ᇚ Ϟᓣ⾏࣪࣪ ˈᕫࠄϡ ᅠܼᖂߚPIDԡ 㕂ㅫ⊩ⱘ 㸼䖒
໘⧚ ⱘֵᙃ 䞣 ᕜ໻ˈ ៥ Ӏϡৃ㛑 ᡞ᠔ ᳝ⱘ᭄᥂䛑ᄬ ᓣ˖
k
ᬒࠄᄬ ‫఼ټ‬ᔧЁˈᴀ᭛ 䞛 ⫼ ᕾ⦃ 䯳 ߫ⱘ᭄᥂ 㒧 ᵘᴹ ᄬ
ᬒ᭄᥂⍜ᙃ[12]ˈ 㡖 ⳕњ ᄬ ‫ ⱘ఼ټ‬ぎ䯈 ˈᑊ ᦤ 催 њ⿟ᑣ ⱘ ᠻ u(k)= KPe(k)+ KI ∑ e( j)+ uD(k) (6)
j=0
㸠 ᬜ⥛DŽ
ձ᥂ MTi-Gᑩ ሖ 䗮ֵ㾘㣗 ˈֵᙃⱘ ໘⧚䞛䰤 ⫼䰤 ݊Ёˈ
᳝ Tf 1
⢊ᗕᴎⱘ໘⧚ᴎࠊᴹ ᅲ⦄[13]DŽᔧᬊࠄᅠ ᭈⱘ᭄᥂⍜ᙃ u D (k)= uD(k − 1)+ KPTD [e(k) − e(k − 1)]
ৢˈḍ᥂᭄᥂⍜ᙃⱘḐᓣˈ ᇚ ໘⧚ϡৠ ᄫ↉ⱘ ֵᙃߚ ߦ៤ T + Tf T + Tf
޴Ͼ⢊ᗕˈ↣⾡⢊ᗕ 䛑 ᳝ ‫݋‬ԧⱘ খ
খ᭄໘⧚ ᅲ⦄՟ (7)
⿟DŽ ᳝ 䰤⢊ᴎ ᗕᴎ ‫݋‬ԧⱘ ᅲ⦄ᮍ ᓣ བ೒ 4 ᠔⼎ˈ೒Ё ㆁ༈ ᳔ৢˈৃҹᕫࠄϡ ᅠܼᖂߚⱘ๲䞣ㅫ ᓣ བ 㸼䖒 ᓣ(8)˖
ᮍ৥Ў⢊ᗕⱘ 䕀⿏ᮍ৥ˈ/0 㸼⼎߸ ᮁ߸ ᴵӊϡ⒵䎇 ˈ/1 㸼
⼎߸
ᮁ ߸ ᴵӊ⒵䎇 DŽ෎Ѣ ᳝ 䰤⢊ᴎⱘ⍜
ᴎᗕ
ⱘ⍜ᙃ ໘⧚ ᴎࠊˈ
ᙃ Δu(k)= u(k) − u(k − 1)
ৃҹ᳝ ᬜֱ䆕⍜ᙃ ໘⧚ ⱘৃ䴴 ᗻҹ ঞ⿟ᑣⱘ 剕 ẦᗻDŽ 䕃 ӊ㋏㒳 = KP[e(k) − e(k − 1)] + KIe(k)+ [uD(k) − uD(k − 1)]
Џ 㽕೼DSP ໘⧚఼ Ϟ ᅲ⦄ˈ ⿟ ᑣ 䞛 ⫼ (
ৄৢৄ ㋏㒳 ⱘ 䆒䅵 ᮍ ᓣDŽ ⬅ѢMTi-Gⱘ᭄᥂᳈ᮄ⥛ ⬅Ѣ᥻ ࠊㅫ⊩Ёϡ 䳔㽕㌃ࡴˈ᥻ ࠊ๲䞣 Δu(k)ҙϢ ᳔ ᳔ 䖥
Ϣ
Ў100Hzˈ⿟ᑣⱘ 䞛 ḋ੠᥻਼ࠊ ਼ ᳳഛ 䆒ᅮ Ў100HzDŽ ޴⃵䇃 Ꮒⱘ 䞛 ḋ᳝ؐ݇ˈ ᠔ ҹ 䇃ࡼ԰ᯊ ᕅ ડ ᇣ ˈ 㗠 Ϩ
䕗ᆍᯧ䗮䖛ࡴᴗ ໘⧚ 㦋 ᕫ↨䕗 ད ⱘ᥻ ࠊᬜ ᵰDŽ
㒣䖛 ߚ䗮䘧䖯㸠 PID᥻ࠊ䖤ㅫৢˈ‫ݡ‬ḍ᥂ 3.1 㡖 ⱘ ߚᵤ
㒧 ᵰˈ 㾷ㅫ ECCPM 㒧 ᵘϝϾ 㠉 ᴎⱘPWMֵࠊ
োDŽ⬅Ѣ 㠉 ᴎᴎẄ 㒧 ᵘ 㸠䰤 ⿟䰤 ࠊˈЎњ 䰆ℶ㠉 ᴎ 㸠⿟ 佅੠
ˈ‫ݡ‬䎳 ᥂ 㠉 ᴎ 㸠 ⿟ Ϟϟ 䰤 ᠔ ᇍ
ᑨⱘPWM᥻
ֵࠊো 䆒ᅮ佅੠ߑ᭄ˈ 佅੠ߑ᭄བ 㸼䖒 ᓣ(9)˖
⎧
⎨ M, ui > M
sat(ui)= ui. N ≤ ui ≤ M (9)
⎩N, ui > N

݊ЁMЎ 㠉 ᴎϞ 㸠⿟᥻ࠊ䞣 ˈNЎ 㠉 ᴎϟ 㸠⿟᥻ࠊ䞣 DŽ

೒ 4: ⢊ᗕ 䕀ᤶ೒
5 খ᭄⹂ ᅮ ঞ 㞾 Џ 亲㸠ᅲ偠
খ
5.1 খখ᭄⹂ ᅮ
4.2 ᥻ࠊㅫ⊩
5.1.1 䞡 ᖗ 䜡 ᑇ ঞ ԡ 㕂⌟ᅮ
亲㸠 ᥻ ࠊㅫ ⊩ 䆒䅵 ᰃ᮴ ҎⳈ छ ᴎ 㞾 Џ 亲㸠 ⱘ݇ 䬂
DŽ ᮴ ҎⳈ छ ᴎ ᰃ ϔϾ 䴲 ᐌ໡ᴖⱘ᥻ ࠊᇍ 䈵 ˈ᥻݊ ࠊ 䲒 ᅝ㺙 ᴎ 䕑䆒ৢ ˈӮᬍব᮴ ҎⳈछᴎॳᴹⱘ 䞡 ᖗ ԡ 㕂
⚍Џ 㽕 ԧ⦄೼㋏㒳 ⱘ 催 ᑺ 䴲㒓 ᗻǃ໡ᴖⱘ ぎ⇨࡯ࡼ DŽ ៥ Ӏ೼䖯㸠亲㸠偠ᅲ偠 Пࠡ
佪 ‫ܜ‬㽕䗮䖛 ᴎ 䕑䆒໛

4
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 㸼 1: ෎ᴀⱘ᥻ ࠊ䕧ܹ䕧݇ߎ㋏
᥻ࠊ䕧ܹ ᑇࡼ 䕀ࡼ
ulat vBy φ
ulon vBx θ
ucol vBz
uped ψ
೒ 6: ϝ 㒓ᨚᅲ偠⌟䞣䕀ࡼᛃ 䞣

ⱘ 䜡 ᑇˈҹֱ 䆕 ᮴ ҎⳈ छ ᴎ 䞡 ᖗ೼ড় 䗖 ⱘԡ 㕂 ϞˈҢ 㗠 㸼 2: 䕀ࡼᛃ 䞣⌟䞣 ؐ

ϡӮᕅડ᮴ ҎⳈछᴎⱘ࡯ࡼᄺ ⡍ᗻDŽ 䞡 ᖗ⌟ 䞣 ⱘ෎ ⠽⧚৿Н খ᭄ ؐ
খ
ᴀᗱᛇᰃ೼ᴎ 䑿 Ϟӏᛣ 䗝 পϝϾ ᣖ⚍ˈ✊ৢ ߚ߿⫼ ϝᴵ  㒓 ᇚ
᮴ ҎⳈ छ ᴎ ᣖ 䍋 ᴹˈϝᴵ 㒓 ⱘѸ ঝ⚍ ⒮䕀䕀ࡼᛃ 䞣 Ixx 0.0914kg · m2
ेЎ 䞡 ᖗDŽ᳔ৢˈ 䗮䖛催 ߚ䕼⥛೒‫⹂ڣ‬ᅮ ᮴ ҎⳈ छ ᴎ ⱘ 䞡 ‫׃‬ӄ 䕀ࡼᛃ 䞣 Iyy 0.214kg · m2
ᖗԡ 㕂 ˈ བ೒ 5 ᠔ ⼎ DŽḍ᥂ ೒‫⌟ˈڣ‬ᕫ ᮴ ҎⳈ छ ᴎ 䞡 ᖗԡ
‫أ‬㟾䕀ࡼᛃ 䞣 Izz 0.166kg · m2
㕂 ೼ 啓 䕂 Ёᖗϟ⊓ⱘ15mm ໘ ˈ 䖭 ḋৃҹֱ 䆕 ෎
ᴀϡᕅ ડ᮴ ҎⳈ छ ᴎ ॳ᳝ⱘ࡯ࡼᄺ⡍ᗻDŽ
ᮍ⊩ᰃ⒮ 䕀 ੠‫׃‬ӄ 䗮 䘧 ⣀ ゟ 䖯㸠 DŽ 佪 ‫ܜ‬䖯㸠 ⒮ 䕀 䗮䘧
ⱘPID᥻ࠊ఼খ খ ᭄ 䇗㡖 ˈ᪡᥻᠟‫ܜ‬᠟ࡼ䘹 ᥻ Ⳉ छ ᴎ 亲㸠㟇
࿓ᗕֱᣕ⢊ᗕˈ✊ ৢ ᇚ䘹᥻఼ⱘ᠟㞾ࡼ䗮䘧 ߛᤶ㟇
⒮䕀䗮䘧㞾᥻῵ᓣˈ‫⾏ݡ‬ᓔ⒮䕀䗮䘧᪡԰ᴚˈা᠟ࡼ᥻
ࠊ‫׃‬ӄ 䗮䘧 ˈ 㾖ᆳ Ⳉ छ ᴎ 亲㸠 ᬜ ᵰˈ བ ᵰ 㛑໳ֱᣕԣߛ
ᤶᯊ ࠏⱘ࿓ᗕˈ߭ৃҹ⹂ᅮ⒮䕀䗮䘧 PID᥻ࠊ఼খ খ ᭄ ˈ བ ᵰϡ 㛑
᥻ࠊ៪ߎ⦄㋏㒳䳛㤵 ˈ߭䳔㒻㓁䇗㡖 PID খ
೒ 5: 䞡 ᖗԡ 㕂⌟ᅮ ᭄ˈⳈ ࠄ㛑໳ᑇ 〇亲㸠 Ўℶˈ 䆄 ᔩ 亲㸠᭄ֵֵᙃˈ᭄
᥂ⱘ 䞛 ḋ 乥⥛Ў10Hzˈ བ೒ 7 ᠔⼎DŽ݊ЁϞ೒Ў⒮䕀㾦
˄Roll˅ 䱣 ᯊ 䯈 ⱘ ব࣪ব࣪᳆ 㒓 ˈЁ೒Ў‫׃‬ӄ 㾦 ˄Pitch˅ 䱣 ᯊ 䯈
5.1.2 䕀ࡼᛃ 䞣⌟ᅮ ⱘ ব࣪ব࣪᳆ 㒓 ˈϟ೒Ў᠟ 㞾 ࡼ᥻ ࠊ῵ᓣ˄Switch˅ 䱣 ᯊ 䯈
ⱘব ব࣪ ࣪᳆ 㒓 ˄0Ў᠟1ˈࡼ Ў 㞾 ࡼ˅DŽḍ᥂ ᅲ 偠 ᭄
Ўњᦤ
ᦤࠡ乘 Ԅߚ䗮䘧 PID᥻ࠊখ খ᭄ ⱘ 䇗 ᭈ 㣗ೈˈ៥ Ӏ ᥂
䳔㽕䖯㸠 ᮴ ҎⳈ छ ᴎϝϾᴎԧ 䕈䕀ࡼᛃ 䞣 ⱘ⌟ᅮ DŽ 䕀ࡼᛃ ֵ ᙃৃ㾕 ˈ೼᠟ࡼ᥻ࠊߛᤶࠄ㞾ࡼ᥻ࠊ῵ᓣ0.5sПৢˈ⒮ 䕀
䞣 ߮ԧ 䕀ࡼᛃᗻ໻ᇣ ⱘ 䞣 ᑺˈ ᰃ 㸼 ᕕ߮ԧ⡍ ᕕⱘϔϾ⠽⧚䞣 DŽ 㾦 ेৃᬊᬯ 1 ◦0ࠄ± ◦
ҹ‫ˈݙ‬⒮ 䕀 䗮 䘧 㞾 ᥻ 6sПৢˈߛ
䕀ࡼᛃ 䞣 ⱘ⧚䆎䅵ㅫ䴲 ᐌ໡ᴖ ˈ 䗮 ᐌ 䞛ᅲ偠 ⫼ᅲ偠 ᮍ⊩ᴹ⌟ᅮ ಲ᠟᥻῵ᓣˈ 䘹᥻Ⳉ छ ᴎ ᅝܼⴔ 䰚 DŽ
ˈ᭛⤂[16] ᦤߎⱘϝ 㒓ᨚ⊩ᰃ ϔ⾡㦋 প 䕀ࡼᛃ 䞣᭄ؐㅔ ऩ 㗠 ᳝ ‫׃‬ӄ 䗮䘧 ⱘPID᥻ࠊ఼খ খ ᭄ 䇗㡖 ᮍᓣѺৠˈ 䆄 ᔩ 亲
ᬜ ⱘࡲ⊩DŽᴀ᭛Փ⫼ ϝ 㒓ᨚⱘ ᮍ⊩ˈ 㦋
ᕫњ ᮴ ҎⳈ छ ᴎϝϾᴎԧ 䕈 ⱘ 䕀ࡼ ᛃ 䞣 ˈϝ 㒓ᨚⱘ ᅲ偠 㸠᭄ֵֵᙃˈ བ೒ 8 ᠔⼎DŽḍ᥂ ᅲ偠᭄ֵֵᙃৃ㾕 ˈ೼
ᮍ⊩བ೒ 6᠔⼎DŽ⬅ϝᴵ ㄝ䭓 Ϩ 䭓 ᑺЎlⱘ 䴲 ᔍᗻ 㒓 ᣖ 䍋 ᴹ ᠟ࡼ᥻ࠊߛᤶࠄ㞾ࡼ᥻ࠊ῵ᓣ0.5sПৢˈ‫׃‬ӄ 㾦ेৃ ᬊᬯࠄ
◦
ˈՓᴎԧ䕈 Ϣϝ 㒓 ᑇ 㸠 ˈ 2 1◦ҹ‫ݙˈ׃‬ӄ 䗮䘧㞾᥻35sПৢˈߛಲ᠟
—
 ᣖ⚍Ϣ 䞡 ᖗ 䯈 ⱘ 䎱⾏ ߚ߿Ўl1 ǃl2 ǃl3 ˈ✊ৢ㒩 ᴎԧ 䕈 ᥻῵ᓣˈ 䘹᥻Ⳉछᴎ ᅝܼⴔ 䰚 DŽ
ᨚࡼⳈछᴎˈ 㾦 ᑺ೼5◦ҹ‫ ˈݙ‬䆄 ᔩᡁ 䕀 ᤃ 㤵਼ᳳtIˈ 䅵ㅫ݀ᓣ བ 㸼 Փ⫼ ߚ䗮䘧 ᭈ ᅮ ད ⱘPID᥻ࠊখ᭄খৠ ᯊ᥻ ࠊ⒮䕀
䖒 ᓣ(10)˖ ੠‫׃‬ӄ 䗮䘧 ˈᑊ⫼䰔㶎 Ҿ 㞾䑿 ⱘ 䫕 ሒࡳ㛑᥻ࠊ‫أ‬㟾 䗮䘧 ˈ᳔ 㒜
ᅲ⦄ ϝ 㞾⬅ᑺ ߽᮴ ҎⳈ छ ᴎⱘ 亲㸠࿓ᗕ 㞾 Џ
᥻ࠊˈ 䆄 ᔩ 亲㸠᭄ֵֵᙃˈ བ೒ 9 ᠔⼎DŽḍ᥂ ᅲ偠᭄᥂
ֵᙃৃ㾕 ˈ೼᠟ࡼ᥻ࠊߛᤶࠄ㞾ࡼ᥻ࠊ῵ᓣ0.5sПৢ
mgl1 l2 l3t 2
l1 sinα1 + l2 sinα2 + l3 sinα3 ेৃ䖒 ࠄ〇 ᗕˈ⒮䕀㾦 ᬊᬯ‫◦ˈ׃‬0.5 ± ◦0.8ࠄӄ 㾦 ᬊᬯ
Ixx/yy/zz = ◦ ◦
1 ࠄ 0.5 ҹ‫ ˈݙ‬㞾᥻35sПৢˈߛಲ᠟᥻῵ᓣˈ 䘹᥻
4π2l I · sinα 1 + sinα 2 + sinα3
l 2l 3 (10) Ⳉछ—ᴎ ᅝܼⴔ 䰚 DŽ⬅ৃ 㾕 ˈ᠟㞾ࡼ᥻ࠊߛᤶᑇ 〇 ˈ 䯁
l1l3 l1l2
㸼䖒 ᓣ(10)Ёˈ α1Ў 㒓↉l2ǃ l3П 䯈 ⱘ།㾦 ˈ α2Ў 㒓 ⦃㞾 Џ᥻ ࠊᬜ ᵰ 㡃 ད DŽ
↉l1ǃl3П 䯈 ⱘ།㾦 ˈ α3Ў 㒓↉ l1ǃl2П 䯈 ⱘ།㾦 DŽ ᤃ 㤵਼ 6 ᘏ㒧
ᳳ tIⱘ⌟䞣䞛⫼㌃⿃ᬒ໻⊩ˈे⫼䅵 ᯊ Ꮉ‫⌟݋‬䞣
㌃⿃໮Ͼ਼ᳳ ⱘ ᯊ 䯈 ˈ✊ৢ‫خ‬ㅫ ᴃᑇ ഛ∖݊ߎ䖤਼ࡼ
਼ ᴀ᭛ЎѮ ᢧ TREX 450 ᮴ ҎⳈ छ ᴎ 䆒 䅵 ᑊ ᨁ ᓎњϝ 㞾
ᳳDŽᣝ↣Ͼᴎԧ 䕈ᇚ ϝ 㒓ᨚᅲ偠䞡໡ϝˈ⃵ˈ ᕫᕫ ࠄϝϾ ᴎԧ 䕈 ⬅ᑺ 亲㸠 ᥻ ࠊ㋏㒳ᅲ偠 ᑇৄˈ 䗝 ⫼ MTi-G԰Ў࿓ᗕ Ӵᛳ఼
ⱘ 䕀ࡼᛃ 䞣 བ 㸼 2 ᠔⼎DŽ ˈ෎ѢTMS320F28335 DSP 䆒䅵亲㸠᥻ࠊ఼ˈՓ
⫼㪱⠭῵ ഫ ᅲ⦄ ᴎ 䕑䆒໛Ϣ ഄ 䴶᥻ࠊキ ⱘ ᮴ 㒓᭄᥂䗮
ᅲ偠㒧 ᵰ ঞߚᵤ
5.2 ֵDŽ᭛ ゴ䅼䆎 њ ᮴ ҎⳈ छ ᴎⱘ 䴲㒓 ᗻ࡯ࡼᄺ ῵ൟ ˈ 䆺
᮴ ҎⳈ छ ᴎ೼ ‫៪ذ‬Ԣ 䗳ࠡ 亲ㄝ亲㸠⢊ϟˈ⒮ᗕϟˈ
⒮ 䕀੠ 㒚 ߚᵤњ 䰆ℶ㠉 ᴎ 佅੠ⱘϡ ᅠܼᖂߚⱘPID᭄ᄫ๲䞣 ᓣ 亲㸠
‫׃‬ӄ 䗮䘧 П 䯈 ⱘ 㗺 ড় 䕗ᇣ ˈৃҹߚ䗮䘧䖯㸠 PID খ ࿓ᗕ᥻ࠊㅫ⊩ˈᑊ 䗮䖛䰙亲㸠偠䖯㸠
ᅲ䰙亲㸠ᅲ偠䖯㸠 њ ㅫ
᭄ᭈ ᅮ DŽ 亲㸠偠 ᅲ偠 Ёˈ 䯁⦃᥻ ࠊ㋏㒳 PID খ᭄
খ᭄ᭈ ᅮ ⱘ ⊩ⱘ偠䆕 DŽ

5
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 20
Roll ᮍ ᓣা䗖⫼Ѣ ‫ذ‬੠Ԣ 䗳ࠡ 亲ㄝ⡍ᅮ ⱘ 亲㸠῵ᗕˈ 㗠 Ϩ᥻ ࠊ
10 ㋏㒳 ⱘ 剕 Ầᗻ 䕗 ᏂDŽ 䗮䖛䆒䅵੠ᨁ ᓎ ᮴ ҎⳈ छ ᴎϝ 㞾
0 ⬅ᑺ 亲㸠偠 ᅲ偠 ᑇৄˈ෎Ѣ 䆹 ᑇৄ偠䆕 ‫ܜ‬䖯 ⱘ 䴲㒓 ᗻ᥻ ࠊ
−10
−20
ㅫ⊩ˈ ᇚ ӮЎҹ ৢⱘ᮴ҎⳈछᴎ ぎ Ё 㞾 Џ 亲
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Pitch
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0 [1] K. Nonami, F. Kendoul, S. Suzuki, W. Wang, and
−10
D. Nakazawa, Autonomous Flying Robots: Unmanned
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12 14 16 18 20 Aerial Vehicles and Micro Aerial Vehicles, Springer pub-
1
Switch
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0.5
Rotorcraft Systems, Springer publisher, 2011.
0
[3] Hao Liu, Geng Lu, and Yisheng Zhong, Robust LQR
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12 14 16 18 20
at- titude control of a 3-DOF lab helicopter for
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Electronic- s, 2012.
[4] C. C. Ko, B. M. Chen, J. Chen, J. Zhang, and K. C.
Roll
20 Tan, A web-based laboratory on control of a Two-
10
Degrees- of-Freedom helicopter, International Journal
0

−10
of Engi- neering Education, 21(6): 1017-1030, 2005.
−20
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[5] L. V. Santana, A. S. Brandao, M. Sarcinelli-Filho, and
time(sec)
Pitch
R. Carelli, Hovering control of a miniature helicopter
20
at- tached to a platform, Proceeding of the 20th IEEE
10

0
Inter- national Symposium on Industrial Electronics,
−10 Gdansk, Poland, June 27-30 2011.
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[6] J. C. Avila Vilchis, B. Brogliato, A. Dzul, and R.
time(sec)

1
Switch Lozano, Nonlinear modeling and control of helicopters,
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0.5
[7] Ioannis A. Raptis, Kimon P. Valavanis, Wilfrido A.
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0
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40 50 60
for helicopters using rotation matrix, IEEE Transaction
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೒ 8: ‫׃‬ӄ 䗮䘧㞾᥻
[8] TREX 450 helicopter, http://www.align.com/align-
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20
Roll
[9] Xsens Technologies B. V. MTi-G User Manual and
10 Technical Documentation, The Netherlands, 2009.
0
[10] Texas Instruments, TMS320F28335 Digital Signal
−10
Controllers Data Manual, Dallas, Texas, 2007.
−20
0 10 20 30
time(sec)
40 50 60 70
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20 Level Communication Documentation, The Netherlands,
10
2005.
0

−10
[12] Sartaj Sahni, Data Structures, Algorithms, and Appli-
−20 cations in C++, 2nd Edition, NY: McGraw-Hill, 2004.
0 10 20 30 40 50 60 70
time(sec)
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[13] Nrusingh Prasad Dash, Ranjan Dasgupta, Jayakar
1
Chepada, and Arindam Halder, Event Driven Program-
0.5
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0
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[14] ਈ ᓎᖋ.෎Ѣ 乥 ඳ 䕼䆚 ⱘᖂ ᇣ ൟ᮴ҎⳈ छ ᴎⱘᓎϢ ῵Ϣ᥻
೒ 9: ࿓ᗕ 㞾 Џ᥻ ⷨࠊ ⷨ お.ფߞӖ ༰ ϐ ಶৢ ำ ˈᵁᎲˈ2007.
ࠊ [15] 催䞥⑤ㄝ㓪㨫.‫ޙ‬സࣅ‫ݯ‬ᄥ ຂහस ৢ cಁ‫ޙ‬ಬຣ.࣫Ҁ˖
࣫Ҁ 㟾ぎ㟾໽໻ᄺ ߎ⠜⼒ˈ2001.
[16] Harris CM, Shock and Vibration Handbook, 4th Edi-
᮴ ҎⳈ छ ᴎ‫݋‬᳝催 ᑺⱘ 䴲㒓 ᗻˈ 䕈䯈 ᔎ 㗺 ড় ˈᓔ tion, NY: McGraw-Hill, 1996.
⦃ϡ 〇ᅮ ҹ ঞ⃴ 偅ࡼⱘ㋏㒳⡍ᗻˈՓӴ ⫼Ӵ 㒳 ⱘPID᥻ࠊ

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