本文为美国麻省理工学院（作者：Young-Rae Kim）的硕士论文，共63页。

讨论了小型无人机的设计问题。对可使用S-UAV的多个市场领域进行了评估，以满足客户的需求，而设计的依据包括：军事、执法、环境研究、警察、新闻广播、搜索救援和视察等任务。一个直径18厘米的旋翼机，带有两个对转叶片，可以满足客户的需求、功能及性能要求。总重1.4kg，推力重量比1.4。无人机具有悬停、前飞、垂直起降的能力，并可根据任务配备相应的设备，如检查用摄像机等。由于S-UAV必须执行六种不同的任务，因此根据任务对飞行器的控制系统进行分类。本文详细描述了控制系统的结构。

The design of a small unmanned aerialvehicle (S-UAV) is discussed here. Several markets where the S-UAV can be usedwere assessed to drive customer requirements, which the design was based on;missions for the military, law enforcement, environmental studies, police andnews broadcasting, search and rescue and inspection were also based on themarket assessment. A rotorcraft of 18 centimeters in diameter with twocounter-rotating blades could satisfy customer needs and functional andperformance requirements. The total weight is 1.4 kilograms and thethrust-weight ratio is 1.4. The S-UAV is capable of hovering, forward flight,vertical take-off and landing, and can be mounted with appropriate equipmentsaccording to the missions, e.g., camera for inspection. Since the S-UAV has toperform six different missions, the control system of the vehicle iscategorized according to the missions. A detailed description of the controlsystem structuring will be addressed in this thesis.

1. 引言

2. 历史发展

3. 市场评估

4. 用户需求

5. 概念设计与折中研究

6. 控制系统

7. 避撞系统

8. 结论与建议

附录A 部分仿真图及源代码

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