本文關鍵詞：多旋翼無人機飛行控制系統(tǒng)設計與實現(xiàn)　出處：《南京航空航天大學》2016年碩士論文　論文類型：學位論文

  更多相關文章： 多旋翼無人機 數(shù)據(jù)融合 自主避障 飛行控制系統(tǒng) 安全保護

【摘要】：多旋翼無人機可實現(xiàn)垂直起降、定點懸停等功能,在軍事和民用領域得到廣泛應用。本文以多旋翼無人機為研究對象,獨立自主設計了一款基于雙ARM架構的飛行控制系統(tǒng)硬件平臺;基于該平臺,采用數(shù)據(jù)融合算法提高傳感器數(shù)據(jù)的精度,設計了多種飛行模式下的控制律和異常情況下的應急和安全保護算法;最終通過試飛測試,驗證了整個飛控系統(tǒng)的可靠性和優(yōu)越性。首先,從可擴展性和可靠性出發(fā),采用模塊化設計的思想,完成了基于雙ARM架構的硬件平臺,重點設計了控制器核心模塊、雙余度姿態(tài)傳感器、電源模塊、輸入輸出模塊等電路原理圖,并完成了PCB板的設計和硬件調(diào)試工作,在此基礎上設計了多旋翼無人機飛行控制律以及不同旋翼結構下的電機控制信號分配算法。其次,針對單傳感器精度低和可靠性差等問題,設計了互補濾波和卡爾曼濾波相結合的數(shù)據(jù)融合算法,實現(xiàn)了GPS、氣壓計、加速度計之間的數(shù)據(jù)融合算法,獲得精度較高的位置和速度信息,實現(xiàn)了多旋翼無人機的高精度位置控制。再次,為了保證多旋翼無人機的飛行安全,針對動力電池低電壓,GPS、遙控器及地面站信號丟失等異常情況,設計了飛行控制系統(tǒng)應急處理和安全保護程序。同時,設計了多旋翼無人機自主避障的軟硬件,為實現(xiàn)復雜環(huán)境下的安全飛行奠定了基礎。最后,對所設計的多旋翼無人機飛行控制系統(tǒng)進行了室內(nèi)、室外試飛測試。測試結果表明,該多旋翼無人機飛控系統(tǒng)飛行功能豐富,具有較高的飛行精度和安全性,對多旋翼無人機飛行控制技術的進一步發(fā)展具有重要的借鑒價值。
[Abstract]:Multi rotor UAV can achieve vertical take-off and landing, hovering and other functions, is widely used in military and civilian fields. Based on the multi rotor UAV as the research object, independent design of a flight control system hardware platform based on dual ARM architecture; based on this platform, the data fusion algorithm to improve the accuracy of the sensor data. Emergency and safety protection algorithm of many kinds of flight mode control law and the situation of abnormal design; finally through the flight test, which verified the reliability of the flight control system and superiority. First of all, from the point of view of scalability and reliability, based on the idea of modular design, the dual ARM architecture based on the hardware platform, key design the controller core module, dual redundancy attitude sensor, power supply module, input and output module circuit principle diagram, and completed the design and hardware debugging on the PCB board. Based on the design of multi rotor UAV flight control signal distribution law and control algorithm of motor rotor under different structure. Secondly, aiming at the problem of single sensor of low accuracy and poor reliability, the design of a complementary filter and Calman filter combining data fusion algorithm, the realization of the GPS, the barometer, the data fusion algorithm between accelerometer to obtain high precision, position and speed information, high precision position control to realize multi rotor UAV. Again, in order to ensure the multi rotor UAV flight safety, power battery for low voltage, GPS, remote control and ground station signal loss and abnormal situation, to design the flight control system of emergency treatment and safety protection program at the same time, the hardware and software design of a multi rotor UAV autonomous obstacle avoidance, laid the foundation for the realization of flight safety in complex environment. Finally, the multi rotor UAV design The flight control system is tested indoors and outdoors. The test results show that the multi rotor UAV flight control system has abundant flight functions, high flight accuracy and safety, and it has important reference value for the further development of the multi rotor UAV flight control technology.

【學位授予單位】：南京航空航天大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V279;V249.1

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