多軸旋翼機導論
Introduction to multirotors
| 節 | 週二 |
|---|---|
A 18:30–19:20 | 多軸旋翼機導論 EE230（光復） 3 節連堂 |
B 19:30–20:20 | |
C 20:30–21:20 |
* 根據陽明交大上課時間表所列
1. The basics of robotic systems 2. Kinematics multirotor systems 3. dynamics of multirotor systems 4. Perception 5. Navigation and control 6. System integration
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無備註
1. Lecture
1. Homeworks (20%) 2. Midterm (40%) 3. Final exam (40%) Google sites: https://sites.google.com/nycu.edu.tw/introduction-to-multirotors/course-materials?authuser=2 TA:李啟安 @EE513 {leeandy90833@gmail.com}
Kinematics of multirotor systems
Euler angles, quaternion, coordinate systems
- 講授：
- 12
Dynamics of multirotor systems
Thrust, allocation matrix, translational and rotational dynamics
- 講授：
- 15
Navigation and control
Introduction to PID controller, nonlinear controller (i.e., geometric controller)
- 講授：
- 12
System integration
Communication, flight controller, autonomous flight system
- 講授：
- 9
The basics of robotic systems
Definition pf robotic systems, applications
- 講授：
- 6
| 週次 | 主題 |
|---|---|
| 第 1 週 | Introduction to robotics systems (機器人學介紹) As scheduled |
| 第 2 週 | Introduction to robotics systems (機器人學介紹) As scheduled |
| 第 3 週 | coordinate systems (座標系統) As scheduled |
| 第 4 週 | Euler angles, quaternion (尤拉角、四元素) As scheduled |
| 第 5 週 | Dynamics of Multirotors and allocation matrix (無人機動態與分配矩陣) As scheduled |
| 第 6 週 | Dynamics of Multirotors and allocation matrix (無人機動態與分配矩陣) As scheduled |
| 第 7 週 | PID Controller (PID控制器) As scheduled |
| 第 8 週 | Midterm (期中考) As scheduled |
| 第 9 週 | Introduction to nonlinear controller (i.e., geometric controller) (非線性控制器介紹) As scheduled |
| 第 10 週 | Quadratic programming (二次規劃) As scheduled |
| 第 11 週 | Camera in perception (相機用於感測) As scheduled |
| 第 12 週 | Lidar in perception (光達用於感測) As scheduled |
| 第 13 週 | Communication system in multirotors (無人機的通訊系統) As scheduled |
| 第 14 週 | Autonomous flight system (自動飛行系統) As scheduled |
| 第 15 週 | Autonomous flight system (自動飛行系統) As scheduled |
| 第 16 週 | Final exam (期末考) As scheduled |
1. Quan, Quan. Introduction to Multicopter Design and Control, Springer, 2017. DOI:10.1007/978-981-10-3382-7. 2. Engineering Mechanics Dynamics, 14th edition in SI units, R. C. Hibbeler.
- 地點
- EE468
- 時間
- By appointment
- 聯絡方式
- tenghu@nycu.edu.tw