本文選題：電動直升機(jī) + 硬件平臺��； 參考：《南京信息工程大學(xué)》2016年碩士論文

【摘要】：電動直升機(jī)具有垂直起降、空中懸停和巡航飛行的能力,并且操作容易,成本低,廣泛應(yīng)用于洪水、地震等緊急情況的處理。本文以設(shè)計(jì)一種電動直升機(jī)自主飛行控制系統(tǒng)為課題,主要研究了飛行控制硬件、軟件設(shè)計(jì),簡單分析了動力學(xué)模型及控制器設(shè)計(jì)。本篇文章的主要內(nèi)容概括如下：本文首先介紹了無人直升機(jī)的背景及意義,在了解國內(nèi)外研究現(xiàn)狀與發(fā)展趨勢的基礎(chǔ)上,針對電動直升機(jī)的特點(diǎn),給出了系統(tǒng)總體的方案設(shè)計(jì),并給出了飛行控制系統(tǒng)硬件的總框架。闡述了飛行控制板電路設(shè)計(jì),介紹了UBEC、傳感器硬件系統(tǒng)、RGB指示燈、OLED_SD模塊等電路設(shè)計(jì)和PCB布局。在介紹了飛行控制系統(tǒng)硬件設(shè)計(jì)的基礎(chǔ)上,討論了與之相對應(yīng)的嵌入式軟件系統(tǒng)設(shè)計(jì)。給出了飛行控制系統(tǒng)軟件的整體框架；介紹了飛行控制板軟件設(shè)計(jì),其中對通訊軟件、電壓檢測和固件升級做了具體介紹；闡述了AHRS、GPS模塊、磁羅盤模塊、RGB指示燈和OLED_SD模塊的軟件設(shè)計(jì)。在完成軟硬件設(shè)計(jì)的基礎(chǔ)上,主要分析了電動直升機(jī)機(jī)體動態(tài)系統(tǒng)結(jié)構(gòu)；討論了主旋翼和穩(wěn)定桿的動力學(xué)；對電動直升機(jī)的線運(yùn)動和姿態(tài)運(yùn)動進(jìn)行了分析；建立了電動直升機(jī)的動力學(xué)模型,并通過MATLAB中的系統(tǒng)辨識工具箱進(jìn)行系統(tǒng)辨識；探討了線性二次積分的控制方法,并完成控制系統(tǒng)的設(shè)計(jì)。在軟硬件和控制器設(shè)計(jì)完成后,本文首先對飛行控制平臺的軟硬件的可行性進(jìn)行實(shí)驗(yàn)驗(yàn)證,然后通過無線電小型直升機(jī)STGLE搭載本文設(shè)計(jì)的電動無人直升機(jī)控制系統(tǒng)進(jìn)行室外飛行試驗(yàn),記錄STGLE室外飛行的實(shí)驗(yàn)數(shù)據(jù),完成了電動直升機(jī)的自主飛行。
[Abstract]:Electric helicopter has the ability of vertical take-off and landing, hovering and cruise, easy operation and low cost. It is widely used in flood, earthquake and other emergency situations. In this paper, the design of an autonomous flight control system for electric helicopters is presented. The design of flight control hardware and software is mainly studied. The dynamics model and controller design are simply analyzed. The main contents of this paper are summarized as follows: firstly, the background and significance of unmanned helicopter are introduced in this paper. On the basis of understanding the current research situation and developing trend at home and abroad, the overall scheme design of the system is given according to the characteristics of electric helicopter. The general frame of flight control system hardware is also given. This paper describes the circuit design of flight control board, and introduces the circuit design and PCB layout of UBEC, RGB indicator lamp and Ole DSD module of sensor hardware system. On the basis of introducing the hardware design of flight control system, the corresponding embedded software system design is discussed. The whole frame of flight control system software is given, and the software design of flight control board is introduced, in which the communication software, voltage detection and firmware upgrade are introduced, and the AHRSU GPS module is described. Magnetic compass module RGB indicator lamp and OLEDSD module software design. Based on the design of hardware and software, the dynamic system structure of electric helicopter body is analyzed, the dynamics of main rotor and stabilizer is discussed, the line motion and attitude motion of electric helicopter are analyzed. The dynamic model of electric helicopter is established, and the system identification is carried out by the system identification toolbox in MATLAB, and the control method of linear quadratic integral is discussed, and the design of control system is completed. After the design of software and hardware and controller are finished, the feasibility of software and hardware of flight control platform is verified by experiments in this paper. Then the control system of the electric unmanned helicopter designed in this paper is carried out outdoor flight test by STGLE, and the experimental data of STGLE outdoor flight are recorded, and the autonomous flight of the electric helicopter is completed.
【學(xué)位授予單位】：南京信息工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：V275.1;V249.1
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本文編號：2070661