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研究生: 鄧鈞岳
Teng, Chun-Yueh
論文名稱: 改良式智慧型PID控制器應用於四軸飛行器
Improved intelligent PID controller for quadcopters
指導教授: 呂藝光
Leu, Yih-Guang
口試委員: 鄭錦聰
Jeng, Jin-Tsong
吳政郎
Wu, Jenq-Lang
陶金旺
Tao, Chin-Wang
莊鎮嘉
Chuang, Chen-Chia
呂藝光
Leu, Yih-Guang
口試日期: 2023/07/14
學位類別: 碩士
Master
系所名稱: 電機工程學系
Department of Electrical Engineering
論文出版年: 2023
畢業學年度: 111
語文別: 中文
論文頁數: 92
中文關鍵詞: i-PID控制器擴展觀察器模糊邏輯四軸飛行器
英文關鍵詞: i-PID controller, extended state observer, fuzzy algorithm, quadcopters
研究方法: 實驗設計法
DOI URL: http://doi.org/10.6345/NTNU202301652
論文種類: 學術論文
相關次數: 點閱:99下載:10
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  • 本論文使用智慧型PID (intelligent PID, i-PID)結合改良式擴展觀察器(Extended State Observer, ESO)來控制四軸飛行器。由於i-PID控制器需要用於估計受控體中未知參數,來改善控制器對受控體進行較佳的控制效果,本論文設計一套改良式擴展觀察器來協助受控體中未知參數建立與估計。該設計的擴展觀察器是透過模糊邏輯計算出觀察器參數,接者再利用觀察器參數估計出受控體中未知參數,進而達到改善i-PID控制器效能的目標。
    為了驗證本論文設計擴展觀察器的有效性與可行性,本論文針對四軸飛行器來進行模擬和實驗。模擬與實驗結果顯示,該設計的控制器具有較佳的控制效果。

    This thesis utilizes an intelligent Proportional-Integral-Derivative (i-PID) controller combined with an enhanced Extended State Observer (ESO) for the control of a quadcopter. As the i-PID controller is employed to estimate unknown parameters within the controlled system, aiming to enhance the controller's effectiveness in controlling the system, this thesis proposes an enhanced ESO scheme to facilitate the establishment and estimation of these unknown parameters within the controlled system. The design of the enhanced observer involves utilizing fuzzy logic to compute observer parameters, which are subsequently employed to estimate the unknown parameters within the controlled system, thereby enhancing the performance of the i-PID controller.
    To validate the effectiveness and feasibility of the proposed enhanced observer design, simulations and experiments are conducted on a quadcopter. The results from both simulation and experimentation demonstrate that the designed controller exhibits superior control performance.

    誌 謝 i 摘 要 iii ABSTRACT iv 圖目錄 viii 表目錄 xiv 第一章 緒論 1 1.1研究動機與背景 1 1.2 研究目的 2 1.3 研究方法 2 1.4 論文架構 3 第二章 文獻探討與回顧 4 2.1 智慧型PID控制器 4 2.2 擴展觀察器 4 2.3 模糊算法 5 2.4 四軸飛行器的數學模型 5 2.5 四軸飛行器的控制方法 6 第三章 智慧型PID控制器設計 7 3.1 PID控制器 7 3.1.1 PID控制器的連續數學表示式 7 3.1.2 PID控制器的離散數學表示式 9 3.2 無模型控制與I-PID控制器 9 第四章 改良式智慧型PID控制器用於四軸飛行器 11 4.1 I-PID控制器結合擴展觀察器 11 4.1.1 非線性系統與擴展觀察器 11 4.1.2 i-PID控制器結合擴展觀察器的控制訊號 14 4.1.3 擴展觀察器極點位置 15 4.1.4 改良式擴展觀察器與模糊算法 18 4.2 四軸飛行器的數學模型 22 4.3 I-PID應用於四軸飛行器 26 4.3.1 i-PID控制器結合擴展觀察器的參數比較 28 4.3.2 i-PID控制器結合擴展觀察器參數經模糊化比較 43 第五章 實驗設計與結果分析 55 5.1 系統架構 55 5.2 硬體元件、模組與感測器介紹 57 5.2.1 微處理器 57 5.2.2 相關模組 58 5.2.3 馬達與電子調速計 61 5.2.4 螺旋槳 62 5.2.5 電池 62 5.3 實驗設計與流程架構 63 5.4實驗結果與討論 66 第六章 結論與未來展望 89 6.1 結論 89 6.2未來展望 89 參考文獻 90

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