本文選題：四軸飛行器　切入點：嵌入式Linux操作系統(tǒng)　出處：《西南交通大學》2015年碩士論文　論文類型：學位論文

【摘要】：四軸飛行器是一個可以垂直起飛降落的飛行器,該飛行器具有四個對稱的旋翼,當改變四個旋翼的轉速時,就可以對飛行姿態(tài)進行調整。四軸飛行器可以實現(xiàn)基本的起飛,降落,前進,后退,向左飛,向右飛以及很多高難度的復雜動作。四軸飛行器涉及眾多領域的高精尖技術,可以去一些不適合人類去的一些復雜環(huán)境去執(zhí)行任務,比如在戰(zhàn)爭中進行地面勘察,在民用中可以用于災后的搜救工作,目標跟蹤,也可以對一些地方進行航拍,現(xiàn)在淘寶網(wǎng)已經(jīng)在試用無人機進行送貨,使得送貨的時間大大縮短。四軸飛行器有很多其他飛行器不可比的優(yōu)勢,因此研究四軸飛行器是一件很有價值的事情。目前市面上的絕大多數(shù)四軸飛行器都是用單片機制作的飛行控制系統(tǒng),而單片機能支持的應用太少,致使四軸飛行器的應用局限性小。就從航拍這個角度來說,普通的四軸飛行器是將存儲卡和相機放在四軸飛行器上,而人們無法根據(jù)四軸飛行器的視頻對四軸飛行器進行調節(jié),導致航拍效果不佳。現(xiàn)在好一些的四軸飛行器增加了圖傳功能,這樣的四軸飛行器的控制模塊和圖傳模塊是完全獨立的,不但增加了硬件成本,也增加了四軸飛行器的重量和功耗,使得其續(xù)航時間縮短。因此低價格,性能較高的可以進行視頻實時傳輸?shù)乃妮S飛行器的出現(xiàn)是很有必要的。要解決此問題,則需要帶操作系統(tǒng)的四軸飛行器控制系統(tǒng)。另外,利用帶操作系統(tǒng)的飛行器控制系統(tǒng),則四軸飛行器還可以實現(xiàn)精確目標跟蹤,飛行器所在區(qū)域的地表3D模型構建等單片機無法完成的任務。通過對BeagleBone Black開發(fā)板和嵌入式Linux操作系統(tǒng)的研究,制作了基于嵌入式Linux實時控制的四軸飛行器。該飛行器以BeagleBone Black開發(fā)板上面的CortexA8處理器為處理核心,通過無線路由器和控制端的PC機連接在一起,該飛行器使用MPU6050作為姿態(tài)傳感器并根據(jù)傳感器數(shù)據(jù)實時調整狀態(tài)。經(jīng)實驗表明該四軸飛行器能比較好地完成飛行任務,證明基于嵌入式Linux實時控制四軸飛行器是可行的,后期可以在該飛行器的基礎上增加更多單片機無法完成的功能。
[Abstract]:A four-axis aircraft is an aircraft that can take off and land vertically. It has four symmetrical rotors, and when the rotation speed of the four rotors is changed, the flight attitude can be adjusted. The four-axis aircraft can achieve basic take-off. Landing, forward, back, left, right, and a lot of difficult, complex movements. The four-axis aircraft involves sophisticated technology in many fields, and it can perform missions in complex environments that are not suitable for humans. For example, conducting ground surveys in war, in civilian use for post-disaster search and rescue work, target tracking, or aerial photography in some places. Now Taobao has been using drones to deliver goods. The delivery time is greatly shortened. The four-axis aircraft has many advantages that are not comparable to other aircraft. So it's a valuable thing to study four-axis aircraft. At present, most of the four-axis aircraft on the market are flight control systems made of single-chip computers, and the applications that single-chip computers can support are too few. This makes the application of quadrilateral vehicles less limited. From the angle of aerial photography, the normal quadrilateral vehicle is to put a memory card and a camera on a quadrilateral vehicle, and people can't adjust the quadrilateral vehicle based on the video of the quadrilateral vehicle. The result of aerial photography is not good. Now the better four-axis vehicle has added graphic transmission function, so the control module and graphic transmission module of the four-axis aircraft are completely independent, which not only increases the cost of hardware, but also increases the cost of hardware. It also increases the weight and power consumption of the four-axis vehicle, which shortens its life span. Therefore, the emergence of a low-cost, high-performance four-axis vehicle that can transmit video in real time is very necessary. To solve this problem, A four-axis aircraft control system with an operating system is required. In addition, using an operating system for aircraft control, the four-axis aircraft can also achieve accurate target tracking. Based on the research of BeagleBone Black development board and embedded Linux operating system, A four-axis aircraft based on embedded Linux real-time control is developed, which uses the CortexA8 processor on the BeagleBone Black development board as the processing core, and is connected together through the wireless router and the PC at the control end. The aircraft uses MPU6050 as attitude sensor and adjusts the state according to the sensor data in real time. The experiment shows that the four-axis aircraft can complete the flight mission well, and it is feasible to control the four-axis aircraft based on embedded Linux in real time. In the later period, we can add more functions which can not be accomplished by single-chip computer on the basis of this aircraft.
【學位授予單位】：西南交通大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：V249.1

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