發(fā)布時(shí)間：2018-05-12 23:21

  本文選題：無(wú)人機(jī) + FPGA�。� 參考：《哈爾濱工業(yè)大學(xué)》2015年碩士論文

【摘要】：人們對(duì)于旋翼飛行器的研究始于20世紀(jì)初,由于工藝水平的限制和相關(guān)理論的匱乏并沒(méi)有取得良好的結(jié)果。但是隨著微電子工藝水平的進(jìn)步,相關(guān)導(dǎo)航技術(shù)理論的成熟,以及無(wú)人機(jī)的軍用、民用和商用等需求的增加,多旋翼無(wú)人機(jī)的開(kāi)發(fā)和應(yīng)用顯得越來(lái)越重要,這不僅具有極大理論研究?jī)r(jià)值,還能帶來(lái)可觀的商業(yè)價(jià)值。本文以實(shí)驗(yàn)室的無(wú)人機(jī)芯片開(kāi)發(fā)項(xiàng)目為研究背景,研究多旋翼無(wú)人機(jī)飛控芯片的原型控制電路,并搭建以FPGA為核心的無(wú)人機(jī)芯片測(cè)試平臺(tái),用于開(kāi)發(fā)和測(cè)試多旋翼無(wú)人機(jī)芯片電路的軟件模塊和硬件模塊,并為實(shí)現(xiàn)多旋翼無(wú)人機(jī)的控制芯片奠定一定的基礎(chǔ)條件。本文對(duì)多旋翼無(wú)人機(jī)的發(fā)展、導(dǎo)航技術(shù)的相關(guān)知識(shí)進(jìn)行了闡述,詳細(xì)描述了本文使用的姿態(tài)算法和控制算法原理�；贏RM控制器建立了多旋翼無(wú)人機(jī)的測(cè)試環(huán)境,進(jìn)行了算法驗(yàn)證和系統(tǒng)總體結(jié)構(gòu)的驗(yàn)證。其中,主要研究了慣性傳感器初始化算法、多旋翼無(wú)人機(jī)姿態(tài)導(dǎo)航算法、PID運(yùn)動(dòng)控制算法的實(shí)現(xiàn)問(wèn)題以及系統(tǒng)的總體結(jié)構(gòu)。在ARM平臺(tái)的搭建工作中,算法測(cè)試得到的數(shù)據(jù),都為FPGA測(cè)試平臺(tái)中的設(shè)計(jì)提供了實(shí)際的參考數(shù)據(jù)。最重要的部分是多旋翼無(wú)人機(jī)飛控芯片電路的設(shè)計(jì)和測(cè)試工作。FPGA硬件板卡是該部分的基礎(chǔ)硬件,本文中使用了以Zynq7020為核心的開(kāi)發(fā)板,自行設(shè)計(jì)了底層的接口板卡,用于連接傳感器、供電模塊等。FPGA的電路設(shè)計(jì)部分,主要完成了基于互補(bǔ)濾波的姿態(tài)算法電路IP模塊、雙環(huán)PID控制算法電路IP模塊以及多旋翼無(wú)人機(jī)飛控芯片的頂層電路。在對(duì)兩個(gè)主要算法電路模塊的測(cè)試工作中,使用的參考數(shù)據(jù)來(lái)自ARM控制器平臺(tái),并與測(cè)試得到的數(shù)據(jù)進(jìn)行了對(duì)比分析。分析結(jié)果可以證明兩個(gè)主要算法電路和算法原理的一致性。
[Abstract]:Since the beginning of the 20th century, the research on rotor aircraft has not achieved good results due to the limitation of technological level and the lack of relevant theories. However, with the progress of microelectronics technology, the maturity of navigation technology theory and the increasing demand of UAV, such as military, civilian and commercial, the development and application of multi-rotor UAV become more and more important. This not only has the great theoretical research value, but also can bring the considerable commercial value. In this paper, the prototype control circuit of multi-rotor UAV flight control chip is studied based on the research background of UAV chip development project in laboratory, and the test platform of UAV chip based on FPGA is built. The software and hardware modules are used to develop and test the circuit of the multi-rotor UAV chip, and the basic conditions are established for the realization of the control chip of the multi-rotor UAV. In this paper, the development of multi-rotor UAV and the related knowledge of navigation technology are described, and the attitude algorithm and control algorithm principle used in this paper are described in detail. The test environment of multi-rotor UAV is established based on ARM controller, and the algorithm is verified and the overall structure of the system is verified. Among them, the initialization algorithm of inertial sensor, the realization of pid motion control algorithm for multi-rotor UAV attitude navigation algorithm and the overall structure of the system are mainly studied. In the construction of the ARM platform, the data obtained from the algorithm test provide practical reference data for the design of the FPGA test platform. The most important part is the circuit design and test work of the flight control chip of multi-rotor UAV. The FPGA hardware board is the basic hardware of this part. In this paper, the development board with Zynq7020 as the core is used, and the bottom interface board is designed by itself. In the circuit design of connecting sensor, power supply module, etc., the IP module of attitude algorithm based on complementary filter, the IP module of dual-loop PID control algorithm and the top-level circuit of multi-rotor UAV flight control chip are completed. In the testing work of two main arithmetic circuit modules, the reference data is from the ARM controller platform, and compared with the test data. The results of the analysis can prove the consistency of the two main algorithm circuits and the principle of the algorithm.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：V249.1

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本文編號(hào)：1880602