本文为美国科罗拉多大学博尔德分校（作者：Young-Rae Kim）的硕士论文，共63页。

本文讨论了小型无人机的设计。对可使用S-UAV的多个市场进行了评估，以满足客户的需求，这也是设计的依据；军事、执法、环境研究、警察、新闻广播、搜救和检查等任务也都是基于市场评估。直径为18厘米的带有两个反向旋转叶片的旋翼机可以满足客户的需求以及功能、性能要求。总重量为1.4公斤，推力重量比为1.4。S-UAV具有悬停、前飞、垂直起降等功能，并可根据任务配备相应的设备，如用于检查的摄像机等。由于S-UAV必须执行六种不同的任务，因此飞行器的控制系统可以根据任务进行分类。本文将详细描述控制系统的结构。

The design of a smallunmanned aerial vehicle (S-UAV) is discussed here. Several markets where theS-UAV can be  used were assessed to drivecustomer requirements,which the design was based on; missions for the military,law enforcement, environ-mental studies, police and news broadcasting, searchand rescue and inspection werealso based on the market assessment. A rotorcraftof 18 centimeters in diameterwith two counter-rotating blades could satisfycustomer needs and functional andperformance requirements. The total weight is1.4 kilograms and the thrust-weightratio is 1.4. The S-UAV is capable ofhovering, forward flight, vertical take-off andlanding, and can be mounted withappropriate equipments according to the missions,e.g., camera for inspection.Since the S-UAV has to perform six different missions,the control system of thevehicle is categorized according to the missions. A detaileddescription of thecontrol system structuring will be addressed in this thesis.

1.         引言

2.         处理过程

3.         市场评估

4.         客户需求

5.         概念设计与折中

6.         控制系统

7.         避撞系统

8.         结论与建议

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