本文選題：四旋翼飛行器 + 姿態(tài)解算�。� 參考：《大連理工大學》2012年碩士論文

【摘要】：四旋翼飛行器是一種結構簡單、可垂直起降的、多旋翼式飛行器,特別適合在近地面環(huán)境執(zhí)行搜尋和偵查任務,在民用和軍事領域都有著廣泛的應用前景。本文主要討論了四旋翼飛行器的飛行系統(tǒng)控制和實現。首先,四旋翼飛行器是一種六自由度的四個輸入力,六個輸出的欠驅動系統(tǒng)(欠驅動系統(tǒng)是指少輸入多輸出系統(tǒng))。它的前后和左右兩組螺旋槳的轉動方向相反,并且通過改變螺旋槳速度來改變升力,進而改變四旋翼飛行器的姿態(tài)和位置。 本文在綜述四旋翼飛行器的發(fā)展歷史和國內外研究現狀的基礎上,總結了四旋翼飛行器的研究意義和關鍵技術。綜合自己的特長和現有的技術,對四旋翼飛行器的飛行控制系統(tǒng)硬件設計和軟件設計實現。 而硬件設計又分為四部分：姿態(tài)測量模塊,飛行控制模塊,無刷電機控制,以及上位機控制模塊。而內部的姿態(tài)傳感器數據將使用開源網站上的姿態(tài)解算AHRS(自動航向基準系統(tǒng))四元數(最簡單的超復數)原理,單獨用一塊ARM的STM32電路板接收姿態(tài)傳感器IMU6050(3軸加速度計和3軸陀螺儀的整合慣導系統(tǒng))芯片,3軸電子羅盤芯片,以及電子氣壓高度計共10軸的數據信息,然后進行數據融合處理,最后將原始接收的數據計算得到飛行器的航向角,俯仰角,橫滾角,再發(fā)送給姿態(tài)控制電路板進行控制。而飛行控制模塊也是用ARM的STM32接收姿態(tài)解算信息后,通過PID控制算法解算后,得到各個旋翼轉速值,再傳輸給無刷電調模塊,控制電機轉速。而飛行器控制模塊,是在AVR(ATMEL公司AVR微控制器)MCU (Micro Control Unit)上基于脈沖寬度調制(PWM:Pulse Width Modulation)的無刷電機控制,電機主要是通過I2C (Inter—Integrated Circuit即12C)接收飛行器控制板傳輸來的飛行控制電機轉速控制信號,并將信號轉換成PWM來控制電機轉速。 軟件設計是在對四旋翼飛行器的動力學模型上的構建后,對四旋翼飛行器進行位置PID控制和姿態(tài)PID控制,最后結合軟件設計來實現。
[Abstract]:Four-rotor aircraft is a kind of simple structure, vertical take-off and landing, multi-rotor aircraft, especially suitable for the near ground environment to carry out search and reconnaissance missions, and has a wide range of application prospects in both civil and military fields. This paper mainly discusses the flight system control and realization of four-rotor aircraft. First of all, a four-rotor aircraft is a six-degree-of-freedom system with four input forces and six output underactuated systems (the under-drive system refers to a system with less input and more outputs). The direction of rotation of the propeller is opposite to that of the two groups of propellers, and the lift force is changed by changing the speed of the propeller, and then the attitude and position of the four-rotor aircraft are changed. On the basis of summarizing the history of the development of the four-rotor aircraft and the present research situation at home and abroad, the research significance and key technology of the four-rotor aircraft are summarized in this paper. The hardware design and software design of the flight control system of the four-rotor aircraft are realized by integrating their own specialties and existing technologies. The hardware design is divided into four parts: attitude measurement module, flight control module, brushless motor control, and upper computer control module. The internal attitude sensor data will use the AHRS quaternion (the simplest hyperplural) principle from an open source Web site. A single ARM STM32 circuit board is used to receive 3-axis electronic compass chip of attitude sensor IMU6050(3 axis accelerometer and 3-axis gyroscope integrated inertial navigation system, as well as 10-axis data information of electronic barometric altimeter. Then the data fusion process is carried out. Finally, the course angle, pitch angle and roll angle of the aircraft are calculated by the original received data, and then sent to the attitude control circuit board for control. The flight control module also receives the attitude solution information with the STM32 of ARM, obtains the rotational speed of each rotor by PID control algorithm, and then transfers it to the brushless electric adjustment module to control the motor speed. The aircraft control module is a brushless motor control system based on pulse width modulation (PWM: pulse Width Modulation) on AVR(ATMEL AVR Micro Control Unit. The motor mainly receives the flight control motor speed control signal transmitted by the aircraft control board through I2C Inter-Integrated Circuit (12C) and converts the signal into PWM to control the motor speed. The software design is based on the construction of the dynamic model of the four-rotor aircraft, then the position PID control and the attitude PID control of the four-rotor aircraft are carried out. Finally, the software design is combined with the software design to realize the position control and attitude PID control.
【學位授予單位】：大連理工大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：V249.1

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本文編號：1914549