發(fā)布時(shí)間：2018-01-10 05:30

  本文關(guān)鍵詞：四旋翼無人機(jī)飛行姿態(tài)解算算法的研究　出處：《東北農(nóng)業(yè)大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 四旋翼 算法 飛行姿態(tài) PID

【摘要】：四軸無人機(jī)是一種直起直落的可控飛行系統(tǒng),通過對(duì)四軸無人飛行器的四槳轉(zhuǎn)速控制,可以使其在空中實(shí)現(xiàn)可懸停的、全方位的穩(wěn)定運(yùn)行。這種可懸停的能力給四旋翼帶來更多的能力包括搜救和空中監(jiān)視作業(yè)。四個(gè)對(duì)稱均勻分布在具有四個(gè)端點(diǎn)交叉結(jié)構(gòu)上的轉(zhuǎn)子作為四軸無人機(jī)的輸入,同時(shí)有六個(gè)狀態(tài)輸出。對(duì)四個(gè)轉(zhuǎn)子的控制即可改變四軸無人機(jī)的姿態(tài)。通過對(duì)四軸無人機(jī)的物理結(jié)構(gòu)和飛行器動(dòng)理論的研究,結(jié)合牛頓力學(xué)和剛體力學(xué)理論對(duì)四軸飛行器進(jìn)行數(shù)學(xué)建模,提高系統(tǒng)的可控性和穩(wěn)定性。在以上理論的基礎(chǔ)上,本設(shè)計(jì)中使用意法半導(dǎo)體(ST)的單片機(jī)STM32F103RBT6,通過驅(qū)動(dòng)陀螺儀、地磁傳感器、加速度計(jì),將數(shù)據(jù)濾波后送入四元數(shù)轉(zhuǎn)換器中運(yùn)算,得到四旋翼內(nèi)環(huán)姿態(tài),即偏航角、俯仰角、滾轉(zhuǎn)角。通過讀取氣壓計(jì)、GPS數(shù)據(jù),可以確定四旋翼的地域坐標(biāo)。通過對(duì)四軸無人機(jī)的姿態(tài)解算和PID控制,可以保證其飛行的穩(wěn)定性和可靠性;通過對(duì)四軸無人機(jī)的軌跡進(jìn)行規(guī)劃,可以使其實(shí)現(xiàn)自主飛行。四軸無人機(jī)的軟件算法主要由加速度計(jì)校正、姿態(tài)計(jì)算和姿態(tài)控制三方面組成。本文采取最小二乘法校正加速度計(jì)。并對(duì)其校正效果進(jìn)行了采樣分析,得到了其誤差比。通過理論研究和對(duì)實(shí)驗(yàn)得到數(shù)據(jù)進(jìn)行分析,對(duì)比了姿態(tài)插值法、姿態(tài)梯度下降法、姿態(tài)互補(bǔ)濾波法的優(yōu)缺點(diǎn),選擇互補(bǔ)濾波法來解算四軸無人機(jī)的姿態(tài),并采樣分析了互補(bǔ)濾波法的性能。采用歐拉角法和四元數(shù)法進(jìn)行四軸無人機(jī)的姿態(tài)控制。最后采用RVMDK編譯器進(jìn)行了算法的軟件編程使用的語言為C語言。
[Abstract]:Four-axis unmanned aerial vehicle (FUAV) is a kind of controllable flight system, which can be hovered in the air by controlling the rotating speed of four propellers of the four-axis unmanned aerial vehicle (UAV). Full range of stable operation. This hovering capability brings more capabilities to the four rotors, including search and rescue and aerial surveillance. Four symmetrical and evenly distributed rotors with four endpoints cross structure serve as a four-axis UAV. The input. At the same time, there are six state outputs. The four-rotor control can change the attitude of the four-axis UAV. The physical structure of the four-axis UAV and the dynamic theory of the vehicle are studied. In order to improve the controllability and stability of the system, the mathematical model of the four-axis vehicle is established by combining Newtonian mechanics and rigid body mechanics. In this design, STM32F103RBT6 is used to drive gyroscopes, geomagnetic sensors and accelerometers to filter the data into the quaternion digital converter. The attitude of the inner ring of the four rotors, namely yaw angle, pitch angle and roll angle, is obtained. By reading the barometer data, the regional coordinates of the four rotors can be determined, and the attitude solution and PID control of the four-axis UAV are obtained. It can ensure the stability and reliability of its flight; By planning the trajectory of the four-axis UAV, it can realize autonomous flight. The software algorithm of the four-axis UAV is mainly corrected by accelerometer. The attitude calculation and attitude control are made up of three aspects. The least square method is used to correct the accelerometer and the effect of correction is analyzed. Through theoretical research and experimental data analysis, the advantages and disadvantages of attitude interpolation method, attitude gradient descent method and attitude complementary filtering method are compared. The complementary filtering method is selected to calculate the attitude of the four-axis UAV. The performance of complementary filtering method is also sampled and analyzed. The Euler angle method and quaternion method are used to control the attitude of a four-axis UAV. Finally, the RVMDK compiler is used to program the algorithm in C language. .
【學(xué)位授予單位】：東北農(nóng)業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：V279
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本文編號(hào)：1404066