本文選題：四旋翼飛行器　切入點(diǎn)：位姿傳感模塊　出處：《深圳大學(xué)》2016年碩士論文

【摘要】：四旋翼飛行器是一種能夠垂直起降、空中懸停的旋翼式無(wú)人直升機(jī),通過(guò)四個(gè)旋翼就可以實(shí)現(xiàn)各種飛行姿態(tài)。其具有操作靈活、結(jié)構(gòu)簡(jiǎn)單,易于控制等特點(diǎn),可用于森林救火、空中偵察、監(jiān)視、航拍等任務(wù),近年來(lái)受到人們廣泛關(guān)注。本文為滿足實(shí)驗(yàn)室團(tuán)隊(duì)研究需要,旨在設(shè)計(jì)一個(gè)小型四旋翼飛行器的硬件實(shí)驗(yàn)平臺(tái),為團(tuán)隊(duì)開(kāi)展進(jìn)一步研究工作建立基礎(chǔ)。主要工作如以下四個(gè)方面:(1)為滿足實(shí)驗(yàn)室團(tuán)隊(duì)研究需求,確定了四旋翼硬件系統(tǒng)的總體結(jié)構(gòu)。(2)根據(jù)系統(tǒng)的總體結(jié)構(gòu),設(shè)計(jì)一款采用32位處理器STM32VET6的飛控板。飛控板主要包括主控模塊、位姿傳感模塊、飛控程序下載與調(diào)試模塊、數(shù)據(jù)存儲(chǔ)模塊、電源模塊、信號(hào)顯示以及報(bào)警電路,其中位姿傳感模塊采用三軸加速度計(jì)、三軸陀螺儀、三軸電子羅盤以及氣壓計(jì),并擴(kuò)展一些如IIC、SPI、OLED、JTAG、UART、PWM等常用接口,方便飛控板外擴(kuò)其他功能模塊。并對(duì)這些模塊進(jìn)行整合,設(shè)計(jì)實(shí)現(xiàn)了飛控板的PCB布線制板。(3)為了降低位置傳感器對(duì)四旋翼載重量的影響,設(shè)計(jì)了無(wú)位置傳感器無(wú)刷直流電機(jī)的電子調(diào)速器。包括電子調(diào)速器的硬件設(shè)計(jì)和軟件設(shè)計(jì)。硬件設(shè)計(jì)包括電調(diào)的硬件電路設(shè)計(jì)和PCB布線制板的設(shè)計(jì)實(shí)現(xiàn)。電調(diào)軟件主要包括無(wú)刷電機(jī)的啟動(dòng)和換相控制。(4)針對(duì)所設(shè)計(jì)的飛控板和電子調(diào)速器進(jìn)行測(cè)試,最后進(jìn)行實(shí)驗(yàn)平臺(tái)的測(cè)試。包括系統(tǒng)供電測(cè)試、姿態(tài)傳感器測(cè)試、飛控板輸入輸出信號(hào)測(cè)試以及電子調(diào)速器的測(cè)試,四旋翼飛行測(cè)試,且對(duì)測(cè)試結(jié)果進(jìn)行分析,驗(yàn)證所設(shè)計(jì)的合理性和可行性。測(cè)試結(jié)果表明所設(shè)計(jì)的硬件系統(tǒng)工作正常,四旋翼能夠?qū)崿F(xiàn)預(yù)期功能。本文完成了四旋翼的飛控板和電子調(diào)速器的設(shè)計(jì),搭建了四旋翼的測(cè)試環(huán)境,進(jìn)行測(cè)試實(shí)驗(yàn),驗(yàn)證了四旋翼硬件設(shè)計(jì)的可行性,為實(shí)驗(yàn)室團(tuán)隊(duì)開(kāi)展下一步的研究工作提供了實(shí)驗(yàn)平臺(tái)。
[Abstract]:The four-rotor aircraft is a kind of unmanned helicopter which can take off and land vertically and hovering in the air. All kinds of flying attitude can be realized through the four rotors.It has the characteristics of flexible operation, simple structure and easy control. It can be used in forest fire fighting, aerial reconnaissance, surveillance, aerial photography and other tasks.In order to meet the needs of laboratory team research, this paper aims to design a hardware experimental platform for a small four-rotor aircraft, and to establish the foundation for further research work of the team.The main work is as follows: 1) in order to meet the research needs of the laboratory team, the overall structure of the four-rotor hardware system is determined. According to the overall structure of the system, a flight control board with 32-bit processor STM32VET6 is designed.Three-axis electronic compasses and barometers, and some common interfaces such as IICI SPI Ole DU JTAG UART PWM, are extended to facilitate the extension of other functional modules on the flight control board.In order to reduce the influence of position sensor on the weight of four rotor, an electronic governor of sensorless brushless DC motor is designed.Including electronic governor hardware design and software design.The hardware design includes the hardware circuit design of electric regulation and the design and realization of PCB wiring board.The electric control software mainly includes brushless motor starting and commutation control. 4) the designed flight control board and electronic governor are tested. Finally, the test platform is tested.It includes system power supply test, attitude sensor test, flight control board input and output signal test, electronic governor test, four-rotor flight test, and analysis of test results to verify the rationality and feasibility of the design.The test results show that the designed hardware system works well and the four rotor can achieve the expected function.In this paper, the flight control board and electronic governor of the four rotor are designed, and the test environment of the four rotor is built, and the test experiment is carried out to verify the feasibility of the hardware design of the four rotor.It provides an experimental platform for the lab team to carry out the next research work.
【學(xué)位授予單位】：深圳大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：V216.8

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