無人機有許多不同種類和外型，本論文針對共軸直升機無人飛行器去做控制系統，共軸直升機為一種上下雙槳排列的旋翼飛行器，適合垂直起降、懸停、並且在同樣尺寸的飛行器下有著更大的槳翼，帶來更大的載重能力。 本論文使用的機體結構是帶尾槳的共軸直升機，相較於無尾槳傾斜盤構造的共軸直升機有著價格優勢，並且利用開源便宜的Arduino NANO控制板做程式控制無人機馬達轉速，目的是設計出讓無人機定高懸停和姿態穩定的控制系統，從實驗測試馬達對高度變化的頻率響應開始，做曲線擬合獲得系統的轉移函數後，最後針對所使用的系統人工調整出合適的PID控制器，;There are many different types and shapes of UAVs. This paper aims at the control system of the unmanned coaxial helicopter . The coaxial helicopter is a rotorcraft with up and down double-screw arrangement, which is suitable for vertical take-off and landing, hovering, and the same size of the aircraft. There are larger paddles underneath, which bring more load capacity. The body structure used in this paper is a coaxial helicopter with a tail rotor, which has a price advantage compared to a coaxial helicopter with a swash plate without a tail rotor, and the open source and cheap Arduino NANO control board is used to program the motor speed of the drone. It is to design a control system that allows the drone to hover at a fixed height and stabilize its attitude. It starts from the experimental test of the frequency response of the motor to the change in height, and after curve fitting to obtain the transfer function of the system, and finally manually adjusts the appropriate system for the system used. PID controller.
