【摘要】：由于甲烷和煤塵的存在易引發(fā)煤礦爆炸事故，事故發(fā)生后災(zāi)變現(xiàn)在環(huán)境危險(xiǎn)等級(jí)高，若派救援隊(duì)員進(jìn)入現(xiàn)場(chǎng)探索事故情況，會(huì)引發(fā)二次礦難。由于無法獲取事故現(xiàn)場(chǎng)的信息，因而救援專家無法制定有效的方案開展救援工作。目前公認(rèn)最安全、有效的方法是先派機(jī)器人進(jìn)入事故現(xiàn)場(chǎng)，采集相關(guān)環(huán)境信息，將環(huán)境信息以數(shù)據(jù)包的形式發(fā)送到控制中心，以此作為派救援隊(duì)員進(jìn)入現(xiàn)場(chǎng)的判據(jù)。 根據(jù)目前國內(nèi)礦山救援設(shè)備發(fā)展?fàn)顩r以及災(zāi)變現(xiàn)場(chǎng)的環(huán)境復(fù)雜性，本文以四旋翼飛行器為研究對(duì)象，提出了一種基于測(cè)距的四旋翼飛行器自主飛行控制系統(tǒng)，通過實(shí)驗(yàn)驗(yàn)證了該系統(tǒng)的可行性。首先設(shè)計(jì)了自主飛行實(shí)現(xiàn)方案，該方案分為兩部分：控制信號(hào)采集量化和控制信號(hào)反灌。根據(jù)方案要求設(shè)計(jì)控制系統(tǒng)硬件、軟件，選擇ARM7作為系統(tǒng)硬件開發(fā)平臺(tái)，ADS1.2作為軟件開發(fā)工具。將GPIO連接接收機(jī)輸出端，通過設(shè)置中斷、定時(shí)器，采集量化控制信號(hào)。在飛行器周圍安裝測(cè)距傳感器，用于測(cè)量空間位置信息。系統(tǒng)將控制信號(hào)量化值和空間位置信息組幀，通過無線的方式發(fā)送至上位機(jī)中。經(jīng)過多次飛行實(shí)驗(yàn)得到大量的樣本數(shù)據(jù)，，根據(jù)控制信號(hào)反灌要求，從中總結(jié)出控制信號(hào)與飛行器飛行姿態(tài)的關(guān)系，重點(diǎn)分析了起飛、降落以及不同高度與控制信號(hào)之間的關(guān)系。利用C語言描述該對(duì)應(yīng)關(guān)系，編譯生成二進(jìn)制文件燒到主控板中，GPIO輸出與飛行姿態(tài)對(duì)應(yīng)的控制信號(hào)，實(shí)現(xiàn)飛行器自主起飛、懸停、降落。另外機(jī)載主控系統(tǒng)具有環(huán)境信息采集功能，把采集到有害氣體濃度經(jīng)過AD轉(zhuǎn)換成數(shù)字量，通過無線方式發(fā)送到安裝有災(zāi)變環(huán)境評(píng)估系統(tǒng)的上位機(jī)中，該上位機(jī)對(duì)收到數(shù)據(jù)進(jìn)行分析、判斷等操作，為救援工作的展開提供了寶貴的依據(jù)，避免二次礦難的發(fā)生。 本文最后對(duì)系統(tǒng)硬件、軟件進(jìn)行了測(cè)試，并成功實(shí)現(xiàn)了四旋翼飛行器自主起飛、高度鎖定、降落，結(jié)果表明預(yù)期方案可行。
[Abstract]:Because the existence of methane and coal dust can easily lead to coal mine explosion accident, the disaster after the accident now has a high environmental danger grade. If the rescue team is sent to the scene to explore the accident situation, it will lead to the secondary mine disaster. Because of the inability to obtain information about the accident site, rescue experts are unable to formulate an effective plan to carry out rescue work. At present, it is recognized that the safest and most effective method is to send the robot into the scene of the accident, collect the relevant environmental information, and send the environmental information to the control center in the form of data packet, which is regarded as the criterion of sending rescue team members into the scene. According to the development situation of mine rescue equipment and the environment complexity of the disaster scene, this paper presents an autonomous flight control system for four-rotor aircraft based on ranging, taking the four-rotor aircraft as the research object. The feasibility of the system is verified by experiments. At first, the realization scheme of autonomous flight is designed, which is divided into two parts: quantization of control signal and reverse irrigation of control signal. The hardware and software of the control system are designed according to the requirements of the scheme. ARM7 is chosen as the hardware development platform of the system and ADS1.2 is used as the software development tool. The GPIO is connected to the receiver output, and the quantization control signal is collected by setting the interrupt and timer. A ranging sensor is installed around the aircraft to measure spatial position information. The control signal quantization value and spatial position information frame are sent to the upper computer by wireless way. After many flight experiments, a large number of sample data are obtained. According to the control signal recharge requirements, the relationship between the control signal and the flight attitude of the aircraft is summarized, and the relationship between the take-off, landing and different altitude and the control signal is analyzed. The corresponding relation is described by C language and the binary files are compiled and generated. The control signals corresponding to the attitude and the output of GPIO are compiled and generated in the main control board to realize the autonomous take-off hovering and landing of the aircraft. In addition, the airborne master control system has the function of collecting environmental information, converting the collected concentration of harmful gases into digital quantities through AD, and sending it wirelessly to the upper computer equipped with a catastrophic environmental assessment system. The upper computer can analyze and judge the received data, which can provide a valuable basis for the rescue work and avoid the secondary mine disaster. Finally, the hardware and software of the system are tested, and the automatic take-off, altitude locking and landing of the four-rotors are successfully realized. The results show that the expected scheme is feasible.
【學(xué)位授予單位】：西安科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TD774

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本文編號(hào)：2141025