本文選題：無人機　切入點：自動駕駛儀　出處：《中國科學(xué)院大學(xué)(工程管理與信息技術(shù)學(xué)院)》2016年碩士論文

【摘要】：與傳統(tǒng)飛機相比,無人機具有體積小、靈活性高、成本較低等優(yōu)點,目前已經(jīng)被廣泛應(yīng)用于眾多領(lǐng)域。而作為無人機核心部分的自動駕駛儀,性能是否優(yōu)異,直接決定了無人機是否可以飛行的更穩(wěn)定、更可靠。因此研究無人機自動駕駛儀具有重要的應(yīng)用價值。本文基于LPC1758處理器設(shè)計和實現(xiàn)了一整套無人機自動駕駛儀系統(tǒng)。主要工作包括：整體方案規(guī)劃與設(shè)計、硬件電路設(shè)計和實現(xiàn)、軟件方案規(guī)劃、底層驅(qū)動程序設(shè)計以及系統(tǒng)的測試和分析。具體如下：(1)通過研究無人機飛行原理和分析自動駕駛儀的功能需求,基于LPC1758處理器完成了無人機自動駕駛儀的方案設(shè)計,主要包括全球定位系統(tǒng)(GPS)、各種類型及功能的傳感器模塊、飛機控制模塊、多類型串行通信模塊及混合式電源模塊部分的設(shè)計。與現(xiàn)有自動駕駛儀硬件平臺相比,本方案具有尺寸更小、功耗更低的優(yōu)點。(2)根據(jù)上述方案的硬件功能要求,設(shè)計和開發(fā)了針對LPC1758處理器的最小電路系統(tǒng),主要包括：采用了高精度有源晶振的外部時鐘電路,采用專業(yè)復(fù)位芯片的復(fù)位電路用以提高系統(tǒng)可靠性,采用驅(qū)動器件的仿真電路用以確保處理器運行可靠等。在此基礎(chǔ)上,進一步設(shè)計和開發(fā)了以下電路：包含開關(guān)電源、線性電源等多種電源類型的復(fù)合式電源電路,模數(shù)混合的多種傳感器模塊電路,高精度低功耗的模數(shù)轉(zhuǎn)換(AD)采集電路,用于控制飛機舵機及電機的脈沖寬度調(diào)制(PWM)輸出電路,以及符合多種接口類型的串行通信電路等模塊電路。(3)根據(jù)無人機工作原理完成了自動駕駛儀的軟件架構(gòu)設(shè)計,并開發(fā)了相關(guān)的硬件底層驅(qū)動軟件,包括：具有系統(tǒng)時鐘配置、處理器引腳功能配置、事件中斷配置等功能的系統(tǒng)初始化模塊驅(qū)動,具有提供精確時間標志功能的定時器模塊驅(qū)動,具有采集各種模擬及數(shù)字傳感器數(shù)據(jù)功能的數(shù)據(jù)采集模塊驅(qū)動,具有控制飛機各種伺服機構(gòu)運動功能的PWM控制模塊驅(qū)動以及具有與機上其它設(shè)備收發(fā)數(shù)據(jù)功能的通信模塊驅(qū)動等底層驅(qū)動程序。(4)通過對自動駕駛儀各個硬件模塊,底層驅(qū)動程序模塊的測試,驗證了該自動駕駛儀系統(tǒng)方案的可行性。與現(xiàn)有的自動駕駛儀相比,本文設(shè)計的自動駕駛儀體積更小、功耗更低、精度更高,基本滿足了系統(tǒng)的設(shè)計要求,為后續(xù)導(dǎo)航及控制算法的實現(xiàn)以及無人機小型化設(shè)計奠定了基礎(chǔ)。
[Abstract]:Compared with traditional aircraft, UAV has the advantages of small size, high flexibility, low cost and so on, and has been widely used in many fields. Directly determines whether the UAV can fly more steadily, Therefore, the research of UAV autopilot has important application value. This paper designs and implements a set of UAV autopilot system based on LPC1758 processor. Hardware circuit design and implementation, software scheme planning, bottom driver design and system testing and analysis. Based on LPC1758 processor, the scheme of UAV autopilot is designed, which includes GPS module, sensor module of various types and functions, and aircraft control module. The design of multi-type serial communication module and hybrid power module. Compared with the existing autopilot hardware platform, this scheme has the advantages of smaller size and lower power consumption. The minimum circuit system for LPC1758 processor is designed and developed, including: the external clock circuit with high precision active crystal oscillator and the reset circuit with professional reset chip are used to improve the reliability of the system. The simulation circuit of driving device is used to ensure the reliability of the processor. On this basis, the following circuits are further designed and developed: the compound power supply circuit, which includes switching power supply, linear power supply, and so on. The analog / digital hybrid sensor module circuit, the high precision and low power A / D converter AD) acquisition circuit, is used to control the pulse width modulation (PWM) output circuit of the aircraft steering gear and motor. According to the working principle of UAV, the software architecture of autopilot is designed, and the related hardware driver software is developed, including the system clock configuration. The system initialization module driver of processor pin function configuration, event interrupt configuration and other functions, the timer module driver with the function of providing accurate time flag, The driver of the data acquisition module, which has the function of collecting various analog and digital sensor data, The PWM control module driver, which has the function of controlling the motion of various servo mechanism of aircraft, and the communication module driver, which has the function of sending and receiving data with other equipments on the aircraft, is driven by the hardware modules of the autopilot. The feasibility of the autopilot system is verified by testing the underlying driver module. Compared with the existing autopilot, the autopilot designed in this paper is smaller in size, lower in power consumption and higher in accuracy. It basically meets the design requirements of the system and lays a foundation for the implementation of subsequent navigation and control algorithms and the miniaturization design of UAV.
【學(xué)位授予單位】：中國科學(xué)院大學(xué)(工程管理與信息技術(shù)學(xué)院)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：V279

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1 王根勇;基于LPC1758處理器的無人機自動駕駛儀系統(tǒng)的設(shè)計與實現(xiàn)[D];中國科學(xué)院大學(xué)(工程管理與信息技術(shù)學(xué)院);2016年

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本文編號：1659646