本文为美国明尼苏达州立大学（作者：Fuad Gazal）的硕士论文，共112页。

无人机（UAV）是一种遥控飞行器，有着广泛的应用。尽管无人机早期的应用主要集中在军事上，但监视、摄影和农业应用目前正在兴起。这项工作的目的是确定如何使用无人机来减少运输时间、提高动力效率和提高安全性，最终实现优化的终端交付。综合运用数学模型、无人机模拟、冗余控制系统和定制设计的电气、机械部件等工具和技术，实现了在30分钟内运输10英里、最大有效载荷10公斤的目标。开发了两个无人机原型，其中第二个（V2）显示出很有希望的结果。在V2中实现的速度，再加上多功能的有效载荷连接器和适当的网络，使得在一个大都市内5-10英里的货物交付不低于8公斤，所用时间少于30分钟。

Unmanned Aerial Vehicles (UAVs) areremotely piloted aircraft with a range of varying applications. Though earlyadoption of UAVs focused on military applications, surveillance, photography,and agricultural applications are presently on the rise. This work aims toascertain how UAVs may be employed to elicit deceased transportation times,increased power efficiency, and improved safety. Resulting in optimized endpoint delivery. A combination of tools and techniques, involving a mathematicalmodel, UAV simulations, redundant control systems, and custom designedelectrical and mechanical components were used towards reaching the goal of a10-kilogram maximum payload delivered 10 miles under 30 minutes. Two UAVprototypes were developed, the second of which (V2) showed promising results.Velocities achieved in V2, in combination with a versatile payload connectorand proper networking, allowed for 5-10 mile deliveries of goods less than8-kilograms to be achieved within a metropolis faster than the 30- minutebenchmark.

1. 引言

2. 项目背景

3. 数学模型

4. MATLAB-Simulink的控制建模与仿真

5. 系统原型的实现

6. 挑战、结果与分析

7. 结论

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