電能無人機系統化設計研究基於飛機設計理論，將燃油飛機設計的假設與物理模型修正為可運用於電能飛機設計。依據無人機的性能需求，找出滿足性能需求的機翼負載及功率負載配對。建立無人機重量估算模型，再根據飛行時間及酬載質量的需求估算最大起飛重量。由功率需求尋找合適的馬達，根據機翼面積選擇適當的翼剖面、進行氣動力設計及穩定性設計。研究主要貢獻在於提出一項電能飛機的設計程序，基於升阻係數曲線假設，選定全機的零升力阻力係數(zero-lift drag coefficient)與誘導阻力係數因子(induced drag factor)兩項參數，搭配無人機重量估算模型，透過零升力阻力係數與誘導阻力係數因子兩項參數疊代，找出滿足任務需求的飛機外形尺寸，這個系統化設計程序橫跨概念設計(Conceptual Design)與初步設計(Preliminary Design)階段，這項程序具有實際物理意義並可直接對應飛機性能參數。論文使用無尾翼構型的電能無人機進行實作並完成飛行測試，驗證這項設計程序應用於小型無人機的可行性。

The research on Electrical-Powered Unmanned Aerial Vehicles(UAVs) Design is based on the theory of aircraft design. The assumptions and physical models in conventional aircraft design are revised for electrical-powered UAV design.The appropriate wing loading and power loading that can satisfy all performance requirements are determined clearly in the matching plot. According to flight time and payload requirements, the maximum take-off weight is formulated and estimated successfully. The electrical motor of the propulsion system would be appropriately selected with the power requirement. On the basis of the wing area, the aerodynamic design and stability design of electrical-powered UAV would be completed.The major contribution of the research is to propose a new electrical-powered UAV design procedure based on the drag polar model. Through the two parameters of the zero-lift drag coefficient and induced drag coefficient factor iteration, the design procedure would be completed. The new design procedure would reduce the number of iterations in the conceptual design and preliminary design phase. This method also has a practical physical meaning and can directly correspond to aircraft performance. After the design, composite materials are used to build the flying wing UAV. The successful flight tests verify the feasibility of this systems engineering approach for small electrical-powered UAV in the research.

目錄
圖目錄	iii
表目錄	v
符號表	vi
第一章 前言	1
1.1研究動機與目的	1
1.2文獻回顧	3
1.3論文研究內容	10
第二章 電能無人機設計	15
2.1飛機設計	15
2.2飛機性能	18
2.3飛機整體外形尺寸估算模式	22
2.4電能無人機電池重量估算模式	25
2.5電能無人機設計程序	31
第三章 空氣動力學與飛機性能	35
3.1作用於飛機上的力與力矩	35
3.2翼剖面的空氣動力學特性	38
3.3飛機的機翼設計	49
3.4飛機特定飛行狀態與升力及阻力的關係	55
第四章 飛機穩定性與飛行力學	60
4.1靜穩定性與飛機平衡點狀態	61
4.2飛機運動方程式組	66
4.2.1六自由度剛體運動方程式組	68
4.2.2座標系與座標轉換	73
4.3空氣動力穩定導數	77
4.4飛機縱向運動	82
4.4.1飛機縱向靜穩定性	82
4.4.2飛機縱向運動方程式組	87
4.5飛機橫向運動	90
4.5.1飛機橫向靜穩定性	91
4.5.2飛機橫向運動方程式組	93
第五章 電能無人機設計與測試	97
5.1電能無人機設計程序	97
5.2電能無人機初步設計	101
5.3電能無人機細部設計	107
5.4 無人機系統整合與測試規劃	112
5.5 飛行試驗	116
第六章 結論	121
參考文獻	126

圖目錄
圖 1功率負載與機翼負載篩選匹配圖	24
圖 2電能無人機的設計程序	33
圖 3飛機水平飛行示意圖	36
圖 4飛機水平轉彎示意圖	37
圖 5翼剖面的攻角與升力係數關係[22]	39
圖 6翼剖面升力係數曲線及力矩係數曲線[22]	40
圖 7翼剖面升力係數對阻力係數及力矩係數的關係[22]	41
圖 8三款翼剖面(NACA)升阻係數曲線比較[5]	43
圖 9數款翼剖面(NACA)最大升力係數與理想升力係數[5]	44
圖 10翼剖面幾何外形參數[21]	46
圖 11正弧度翼剖面上壓力分布與壓力中心示意圖[21]	47
圖 12升力係數變化發生壓力中心移動的風洞實驗數據[21]	48
圖 13攻角增加翼剖面之壓力中心前移示意圖	48
圖 14力矩係數相對應翼剖面流場情況示意圖[21]	49
圖 15機翼平面形狀參數示意圖	50
圖 16升力係數斜率在二維機翼及三維機翼的差異	51
圖 17飛機上反角示意圖	52
圖 18上反角具有滾轉穩定特性示意圖	53
圖 19飛機機翼幾何扭轉與氣動扭轉示意圖[22]	54
圖 20飛機升阻係數曲線示意圖	57
圖 21飛機特定飛行條件與速度的關係	57
圖 22靜穩定性示意圖	62
圖 23作用在飛機上的力矩與符號定義[21]	65
圖 24攻角及側滑角使用速度與速度分量之定義[25]	65
圖 25慣性座標與飛機體座標之間的歐拉角定義[24]	75
圖 26飛機重心位置與飛機中性點位置對靜穩定性的影響[22]	84
圖 27機翼與升降舵之合力與合力矩示意圖[24]	85
圖 28飛機重心與中性點位置示意圖	87
圖 29航向靜穩定性的符號定義[25]	92
圖 30滾轉靜穩定性的符號定義[25]	92
圖 31設計的電能無人機匹配圖	103
圖 32電能無尾翼無人機升阻係數曲線圖	105
圖 33電能無尾翼無人機升力係數及俯仰力矩係數	105
圖 34翼剖面Selig S5010外形示意圖(低雷諾數)	111
圖 35無人機外部和內部結構3D模型建模	111
圖 36無尾翼無人機的主要與次要結構模組示意圖	111
圖 37無尾翼無人機的加強肋與組裝試配	111
圖 38無人機的複合材料蒙皮抽真空工法	112
圖 39電能無尾翼無人機實體圖	112
圖 40機場航線型態(Airfield traffic pattern)	116
圖 41第二次飛試第一輪的飛行速度歷程	119
圖 42第二次飛試第一輪的飛機姿態歷程	119
圖 43第二次飛試第二輪的飛行速度歷程	120
圖 44第二次飛試第二輪的飛機姿態歷程	120
圖 45實際製造的電能無人機匹配圖	125
 
表目錄
表 1飛機重量估算模式經驗效率值與參數	100
表 2電能無人機初步設計參數表	106
表 3電能無人機初步設計與實際製造比較表	125

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