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以遺傳演算法分析無人飛行載具PID控制器設定之研究 = A Study ...

國立高雄大學資訊管理學系碩士班

以遺傳演算法分析無人飛行載具PID控制器設定之研究 = A Study of PID Controller Analyzing for Unmanned Aerial Vehicle Using Genetic Algorithm

紀錄類型:	書目-語言資料,印刷品 : 單行本
並列題名:	A Study of PID Controller Analyzing for Unmanned Aerial Vehicle Using Genetic Algorithm
作者:	方柏鈞,
其他團體作者:	國立高雄大學
出版地:	[高雄市]
出版者:	撰者;
出版年:	2015[民104]
面頁冊數:	47面圖，表 : 30公分;
標題:	無人飛行載具
標題:	UAV
電子資源:	http://handle.ncl.edu.tw/11296/ndltd/16275520005924232859
附註:	104年10月31日公開
附註:	參考書目：面40-42
摘要註:	由於近年來科技演變迅速,以往僅用於軍事的無人飛行載具已經成為民間一項熱門的新興產業,並且也開始於日常生活中協助使用者處理大量不同形式的應用。民間廠商也開始將無人飛行載具包裝成商品販售給民眾,然而在無人飛行載具使用過程中經常會遇到了無人飛行載具調整與控制的問題。無人飛行載具的飛行控制主要來源於一款平衡機制控制器,PID(roportional-Integral-Derivative Controller)控制技術器。此控制器在良好的設定下可以使無人飛行載具保持飛行平衡且具有良好的抗氣流擾動效果,但不適當的設定則容易使控制器失去效力,從而使無人飛行載具無法穩定飛行。PID控制技術雖然已被提出,但是無人飛行載具的PID控制器參數的調整並沒有標準的規則,且不同的無人載具也因其不同的結構在PID的設定上也有所不同,現今的控制器主要憑藉使用者多次嘗試以後得到的經驗為主,不僅必須花費更多的時間與心力進行調整,甚至可能因調整的偏差造成無人飛行載具的損失,也容易因此發生危險,如何有效而快速的設定不同型式無人飛行載具的PID控制器則成為一項重要的研究課題。基於如此,本研究提出一個經由遺傳演算法技術自動調整無人飛行載具PID控制器參數設定之方法,協助使用者快速找到適用於無人飛行載具的控制器設定。使用者調整不需透過經驗的累積,也可利用遺傳演算法的適應性尋找適合所使用無人飛行載具的設定,減少花費在錯誤嘗試上的時間,也避免因為不適用的PID控制器而損失無人飛行載具。 Due to the rapid evolution of science and technology in recent years, unmanned aerial vehicle which was previously used only for military has become a popular industry and also be assign to help users dealing with daily tasks in normal life. Manufacturers have also begun make unmanned aerial vehicle product and sold to public but when users are controlling unmanned aerial vehicle often encounter the problem of adjustment and control. The control of unmanned aerial vehicle mainly is based on a balancing mechanism controller, PID (Proportional-Integral-Derivative Controller) control unit. While using the good setting, unmanned aerial vehicle can maintain balanced flight and behave good resistance to airflow disturbance effect. But it is easy to use an inappropriate setting makes unmanned aerial vehicle cannot maintain stable flight. The PID control technology has been proposed but there is still no standard rules for adjusting the parameter of PID controller of unmanned aerial vehicle, and different unmanned aerial vehicles also comes different structures makes the PID settings are different, too. Now days the way to set the parameter of PID controller is trial and error method and experience, users still need to spend lots of time on it and there could be deviation in the parameter causing the loss of aircraft and easily doing damage to people or property. How to get the right parameters for different unmanned aerial vehicles effectively and fast has become an important issue.Based on this issue, in this study we proposes a method for automatic adjust parameters of PID controller of unmanned aerial vehicle via genetic algorithm technology to help users quickly find applicable settings for vehicle. User does not need experience to adjust the parameters, but also looking for the setting of different unmanned aerial vehicles by using genetic algorithms and reduce the spending on the trial and error. And also avoid the wrong setting of PID Controller causing the loss of unmanned aerial vehicle.

以遺傳演算法分析無人飛行載具PID控制器設定之研究 = A Study of PID Controller Analyzing for Unmanned Aerial Vehicle Using Genetic Algorithm
方, 柏鈞

以遺傳演算法分析無人飛行載具PID控制器設定之研究 = A Study of PID Controller Analyzing for Unmanned Aerial Vehicle Using Genetic Algorithm / 方柏鈞撰 - [高雄市] : 撰者, 2015[民104]. - 47面 ; 圖，表 ; 30公分.
104年10月31日公開參考書目：面40-42.
無人飛行載具UAV

以遺傳演算法分析無人飛行載具PID控制器設定之研究 = A Study of PID Controller Analyzing for Unmanned Aerial Vehicle Using Genetic Algorithm
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