本文關(guān)鍵詞：微型四旋翼無人機(jī)的搭建與姿態(tài)控制　出處：《華東理工大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 四旋翼無人機(jī) STM32F407ZGT6 動力學(xué)模型 Backstepping

【摘要】：微型四旋翼無人機(jī)是一種具有四個固定螺旋槳交叉分布,并且通過四個螺旋槳提供動力來實(shí)現(xiàn)各種姿態(tài)飛行的無人飛行器。其體積小、結(jié)構(gòu)簡單、安全性高,可以完成超低空偵察、干擾、監(jiān)視等許多復(fù)雜任務(wù),目前正成為人們研究的焦點(diǎn)。 本課題搭建了微型四旋翼無人機(jī)的飛行平臺,設(shè)計(jì)并實(shí)現(xiàn)了一種基于Cortex-M4內(nèi)核芯片STM32F407為核心的飛行控制系統(tǒng),并對懸停和低速飛行狀態(tài)下的姿態(tài)控制進(jìn)行探索性研究。具體工作如下： 針對微型四旋翼無人機(jī)的空氣和動力學(xué)特點(diǎn),建立了飛行器的空氣動力學(xué)方程,分析了飛行基本原理,并建立了飛行器的基本坐標(biāo)系； 針對雙CPU之間的通信問題,設(shè)計(jì)并實(shí)現(xiàn)了一種基于并口通信方案的數(shù)據(jù)交換方案,自定義了相關(guān)通信協(xié)議,實(shí)現(xiàn)了一種簡便可行的方案； 對微型四旋翼無人機(jī)硬件模塊進(jìn)行了詳細(xì)的設(shè)計(jì),分析了各模塊的設(shè)計(jì)要求與原理,設(shè)計(jì)并完成了飛控PCB板； 重點(diǎn)研究了微型四旋翼無人機(jī)的姿態(tài)控制。首先,設(shè)計(jì)了小角度下的Backstepping姿態(tài)控制律并采用Matlab進(jìn)行仿真驗(yàn)證。在分析此姿態(tài)控制律的局限性后,提出了改進(jìn)型Backstepping姿態(tài)控制律,進(jìn)行了相應(yīng)的仿真驗(yàn)證,仿真后控制效果較為明顯； 研究了兩種姿態(tài)解算與姿態(tài)融合的兩種方法,即互補(bǔ)濾波法和DMP融合法。分別對其進(jìn)行設(shè)計(jì)與驗(yàn)證,經(jīng)實(shí)驗(yàn)驗(yàn)證,對于本課題而言DMP法較為有效； 最后,軟件設(shè)計(jì)飛行控制系統(tǒng),并用已搭建的飛行器模型平臺進(jìn)行在線調(diào)試,從而驗(yàn)證了算法的可行性。
[Abstract]:Micro four-rotor UAV is a kind of unmanned aerial vehicle with four fixed propeller cross distribution and four propellers to provide power to achieve a variety of attitude flight. Its size is small simple structure and high security. It can accomplish many complex tasks, such as very low altitude reconnaissance, jamming, surveillance and so on. In this paper, the flight platform of micro four-rotor UAV is built, and a flight control system based on Cortex-M4 core chip STM32F407 is designed and implemented. The attitude control of hovering and low speed flight is studied. The main work is as follows: According to the air and dynamics characteristics of the micro four rotor UAV, the aerodynamics equation of the aircraft is established, the basic flight principle is analyzed, and the basic coordinate system of the aircraft is established. Aiming at the problem of communication between two CPU, a data exchange scheme based on parallel port communication scheme is designed and implemented. The hardware module of micro four-rotor UAV is designed in detail, the design requirements and principles of each module are analyzed, and the flight control PCB board is designed and completed. The attitude control of the micro four rotor UAV is studied emphatically. First of all. The Backstepping attitude control law with small angle is designed and simulated by Matlab. After analyzing the limitation of this attitude control law. The improved Backstepping attitude control law is proposed, and the corresponding simulation is carried out. The control effect is obvious after the simulation. Two methods of attitude solution and attitude fusion, namely complementary filtering method and DMP fusion method, are studied in this paper. The design and verification of the two methods are carried out respectively. The experimental results show that the DMP method is more effective for this subject. Finally, the flight control system is designed and debugged online with the built aircraft model platform, which verifies the feasibility of the algorithm.
【學(xué)位授予單位】：華東理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP273;V279

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本文編號：1357328