近年來由於微機電製程技術成熟，以及遠距離通訊與機械結構材料的快速發展，輕巧、機動性高的無人自主性飛行器如四旋翼直升機在諸多領域中已扮演不可或缺的重要角色。
平面直線運動乃四旋翼直升機最基本的飛行模式，在實際應用場合亦會有不改變姿態的平面直線飛行需求，然而對於四旋翼直升機的平面直線運動行為之掌握似乎仍是有限。基於此動機，本論文對於四旋翼直升機的平面直線運動深入探討，以期對於此類運動的動態特性與限制條件有著更進一步的了解。研究範疇包括：旋翼機起飛前初始的姿態角度對其平面直線運動的影響，以及旋翼機在進行水平直線運動時，飛行姿態不變的條件為何等。研究宗旨乃在求得在任何初始姿態角度的狀況下，均能達成水平直線運動的條件。本文首先對四旋翼機機體進行動力學推導，獲得完整四旋翼系統動態方程式；接著由此深入機體動態系統，並進行模擬來分析初始角度對旋翼機進行平面直線運動時姿態的影響。藉由完整的數學模型與電腦模擬，可以歸納出在三個姿態度角度相互影響下而能維持水平直線運動的限制條件。

In recent years, due to maturity of micro-electromechanical fabrication techniques as well as rapid development of long-distance communication and mechanical structure materials, lightweight and highly mobile unmanned autonomous aircraft such as quadrotor helicopters play an indispensable role in many fields.
The planar linear motion is the most basic flying mode of a quadrotor helicopter. It is always demanded for applications that require a planar linear motion without changing attitude of the rotorcraft. Nevertheless, understanding of the planar linear motion of the quadrotor helicopter is still limited. Based on this motivation, the thesis aims to investigate the dynamic characteristics and constraints for planar linear motions of the quadrotor helicopter. Research subjects include the influence of the starting attitude angles before take-off of the rotorcraft on its planar linear motion, and the conditions for the rotorcraft maintaining a fixed attitude while it is performing a planar linear motion. The objective is to obtain conditions to achieve stable planar linear motion for the quadrotor helicopter for any initial values of attitude angles. This thesis starts with derivation of dynamics of the quadrotor helicopter to obtain its complete dynamic equations. These dynamic equations are then deeply studied to analyze the influence of initial angles on the attitude of the rotorcraft in planar linear motions. Relying on the complete mathematical model and computer simulations, the constraints maintaining planar linear motions for the quadrotor helicopter under the effect of three attitude angles can be summarized.

論文審定書 i
誌謝 ii
摘要 iii
Abstract iv
圖目錄 vii
表目錄 xi
第一章 緒論 1
1.1 研究動機與目的 1
1.2 研究方法 1
1.3 文獻回顧 2
1.4 論文架構 5
第二章 四旋翼直升機系統與動態方程式 7
2.1 旋翼機介紹 7
2.2 座標軸轉換 10
2.3 四旋翼直升機動態方程式 12
2.3.1 線運動方程式 13
2.3.2 角運動方程式 14
2.3.3 旋翼機機體座標運動方程式 15
2.3.4 旋翼機總運動方程式 16
第三章 系統架構與姿態模擬 18
3.1 旋翼機系統架構 18
3.2 旋翼機直線運動姿態分析 20
第四章 姿態模擬結果與分析 26
4.1 旋翼機角度模擬結果 26
4.1.1 沿X方向運動 26
4.1.2 沿Y方向運動 42
4.2加入Z方向之旋翼機角度模擬結果 57
4.3實例設計模擬 65
第五章 結論與未來規劃 69
5.1 結論 69
5.2 未來規畫 69
參考文獻 71

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