本文關(guān)鍵詞：航空探測(cè)無(wú)人機(jī)自主飛行控制研究　出處：《吉林大學(xué)》2016年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 航空探測(cè)平臺(tái) 自主飛行控制 PID控制器 回路控制 飛控系統(tǒng)

【摘要】：在現(xiàn)今礦產(chǎn)資源緊缺的時(shí)期,靈活、高效、安全的無(wú)人機(jī)航空探測(cè)技術(shù)有著廣闊的發(fā)展前景,該項(xiàng)技術(shù)在國(guó)際上早已受到學(xué)者們的廣泛關(guān)注并成為研究的熱點(diǎn)。目前我國(guó)在使用無(wú)人機(jī)平臺(tái)作航空探測(cè)方面仍處于初級(jí)研究階段,無(wú)人機(jī)平臺(tái)的選擇、飛行控制方法等仍在不斷的探索中,目前采用固定翼無(wú)人機(jī)作為航空探測(cè)平臺(tái)的方式無(wú)法進(jìn)行精確的低空、低速測(cè)量。本文以旋翼無(wú)人機(jī)為載體,對(duì)航空探測(cè)平臺(tái)的低空、低速自主飛行控制系統(tǒng)展開(kāi)了研究。通過(guò)總結(jié)航空探測(cè)無(wú)人機(jī)技術(shù)的國(guó)內(nèi)、外研究現(xiàn)狀,以及幾種常用的無(wú)人機(jī)飛行控制算法,選用經(jīng)典的閉環(huán)PID控制理論來(lái)設(shè)計(jì)無(wú)人機(jī)平臺(tái)的飛行控制系統(tǒng)的控制器;通過(guò)對(duì)無(wú)人機(jī)平臺(tái)的結(jié)構(gòu)、受力、飛行原理分析,再結(jié)合牛頓—?dú)W拉方程組,建立了平臺(tái)系統(tǒng)的動(dòng)力學(xué)模型;通過(guò)簡(jiǎn)化系統(tǒng)模型,將平臺(tái)的飛控系統(tǒng)分為速度、姿態(tài)、位置等三個(gè)控制回路,分別對(duì)三個(gè)回路設(shè)計(jì)PID回路控制器,并在MATLAB/SIMULINK軟件中進(jìn)行平臺(tái)系統(tǒng)飛行仿真實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果驗(yàn)證了設(shè)計(jì)的PID回路控制器的有效性。以STM32為主控器設(shè)計(jì)了一套適用于航空探測(cè)無(wú)人機(jī)的飛行控制系統(tǒng),系統(tǒng)主要包括電源、控制、無(wú)線(xiàn)通信、測(cè)量、電機(jī)驅(qū)動(dòng)等5個(gè)模塊。主控器模塊接收地面站的控制指令,根據(jù)測(cè)量模塊的數(shù)據(jù)進(jìn)行速度、姿態(tài)和位置的PID控制計(jì)算4個(gè)電機(jī)的控制量,并輸出對(duì)應(yīng)的PWM控制信號(hào);測(cè)量模塊中包括慣性測(cè)量、方向測(cè)量和氣壓測(cè)量三部分,向主控器提供平臺(tái)的姿態(tài)和位置數(shù)據(jù);電機(jī)驅(qū)動(dòng)模塊對(duì)主控器輸出的PWM信號(hào)通過(guò)電調(diào)模塊放大進(jìn)行無(wú)刷電機(jī)驅(qū)動(dòng);無(wú)線(xiàn)通信模塊選擇3-DR數(shù)傳電臺(tái),完成航空探測(cè)平臺(tái)機(jī)載部分與地面站之間的數(shù)據(jù)傳輸。通過(guò)飛行試驗(yàn)結(jié)果驗(yàn)證了本文設(shè)計(jì)的平臺(tái)飛控系統(tǒng)實(shí)現(xiàn)了飛行平臺(tái)懸停狀態(tài)下的滾轉(zhuǎn)角?、俯仰角?、偏航角?和高度h的控制,實(shí)驗(yàn)結(jié)果表明平臺(tái)在懸停時(shí)滾轉(zhuǎn)角、俯仰角、偏航角的角度變化范圍都控制在1°之間,平臺(tái)在懸停時(shí)上下抖動(dòng)范圍不超過(guò)0.2m,表明了所設(shè)計(jì)的無(wú)人機(jī)平臺(tái)的控制方法的可行性,為后續(xù)的自主飛行控制研究奠定了基礎(chǔ)。
[Abstract]:In the period of the shortage of mineral resources, flexible, efficient, safety of the UAV aerial detection technology has broad prospects for development, this technology has received extensive attention of scholars and become a research hotspot in the world. At present our country in the use of the UAV platform for aviation detection is still at the primary stage of the study, no UAV platform selection, flight control method is still in constant exploration, the fixed wing UAV as an aviation detection platform cannot accurately at low altitude, low speed measurement. This paper takes rotor UAV as a carrier of low altitude aircraft detection platform, low-speed autonomous flight control system is studied. Through the summary aerial reconnaissance UAV technology domestic and foreign research status, and UAV flight control algorithms, to design the UAV platform with the classical theory of closed-loop PID control The controller of the flight control system; the structure of the UAV platform force, flight principle analysis, combined with the Newton Euler equations, established the dynamics model of the platform system; through the simplified system model, the flight control system platform is divided into speed, attitude, position and other three control loops, respectively in three a circuit design of PID loop controller, and flight simulation platform system in MATLAB/SIMULINK software, the experimental results verify the validity of PID loop controller design. Using STM32 as the main control device is designed to detect aircraft flight control system of UAV system, including power supply, control, wireless communication, measurement. The motor drive module 5. Control command of the main controller module receiving ground station, speed measurement module according to the data, control the attitude and position of PID control calculation of 4 electric machines, and transportation The corresponding PWM control signal; inertial measurement includes measuring module, direction measurement and pressure measurement in three parts, to provide a platform for attitude and position data to the main controller; PWM motor drive signal of the main controller module output amplification of the brushless motor driven by power transfer module; wireless communication module of 3-DR radio, complete data transmission between air detection platform airborne part and ground station. The flight test results verify the platform of flight control system designed in this paper can roll flight platform in hover?, pitch angle, yaw angle and height?? H control, the experimental results show that the platform roll angle, pitch angle in hover the range, the yaw angle angle is controlled at 1 degrees between the platform in hover on the jitter range is less than 0.2m, shows the feasibility of the control method of UAV platform design, for the following The research of autonomous flight control has laid the foundation.

【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：V279;V249.1

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