【摘要】：四旋翼飛行器是一個(gè)具有強(qiáng)耦合、不穩(wěn)定、非線性等特點(diǎn)的復(fù)雜控制對(duì)象,對(duì)其姿態(tài)控制的方法包括力學(xué)原理、傳感器通信、計(jì)算機(jī)處理以及無線通信等學(xué)科。本論文研究的工作重點(diǎn)在于傳感器的調(diào)試、動(dòng)力學(xué)模型的建立及仿真,WIFI數(shù)據(jù)通道的建立及基于PID控制算法的設(shè)計(jì)。本文通過研究四旋翼飛行器結(jié)構(gòu)特點(diǎn)、姿態(tài)解算方式及飛行控制技術(shù),設(shè)計(jì)了以S3C2440的主控芯片為硬件開發(fā)平臺(tái),在Linux環(huán)境下進(jìn)行軟件開發(fā)。硬件平臺(tái)集成了MPU-6000及KS103為慣性測(cè)量單元的飛行姿態(tài)控制系統(tǒng)。軟件設(shè)計(jì)上以Linux系統(tǒng)作為運(yùn)行平臺(tái),在PC機(jī)上搭建交叉編譯環(huán)境并編寫應(yīng)用層與控制算法層程序。在數(shù)據(jù)通道方面,以RS232及IIC協(xié)議實(shí)現(xiàn)了傳感器與主控芯片的數(shù)據(jù)解析并通過TCP下socket通信協(xié)議建立了與上位機(jī)的數(shù)據(jù)通道。通過加權(quán)法融合當(dāng)前傳感器中加速度和陀螺儀的測(cè)量數(shù)據(jù),估算出當(dāng)前的運(yùn)動(dòng)姿態(tài)。將得出的姿態(tài)角度與穩(wěn)定姿態(tài)角做差值,并將該差值作為PID控制器的模糊輸入量,通過PID控制算法計(jì)算,得到當(dāng)前角度快速向穩(wěn)態(tài)角度收斂對(duì)應(yīng)的電機(jī)調(diào)節(jié)量,從而改變旋翼轉(zhuǎn)速以使得飛行器向平穩(wěn)姿態(tài)調(diào)整。本文對(duì)四旋翼飛行器自主飛行控制系統(tǒng)進(jìn)行了整體方案設(shè)計(jì)并搭建出軟硬件平臺(tái),并把重點(diǎn)放在了傳感器的調(diào)試與算法的設(shè)計(jì)。分別對(duì)俯仰角進(jìn)行比例、積分和微分三種收斂算法進(jìn)行說明,并設(shè)計(jì)出增量式PID軟件算法。論文最后對(duì)四旋翼俯仰軸姿態(tài)進(jìn)行了建模仿真,測(cè)試結(jié)果表明本課所研究的關(guān)于四旋翼姿態(tài)角控制的PID算法是可行的,保證了四旋翼在起飛階段微小氣流擾動(dòng)下姿態(tài)的穩(wěn)定性。
[Abstract]:Four-rotor aircraft is a complex control object with strong coupling, instability and nonlinearity. The methods of attitude control include mechanics principle, sensor communication, computer processing and wireless communication. The main work of this thesis is the debugging of sensor, the establishment of dynamic model, the establishment of simulation data channel of WiFi and the design of control algorithm based on PID. In this paper, the structure characteristics, attitude calculation method and flight control technology of four-rotor aircraft are studied, and a software development platform based on S3C2440 main control chip is designed under the Linux environment. The hardware platform integrates MPU-6000 and KS103 as the inertial measurement unit of the flight attitude control system. In the software design, the Linux system is used as the running platform, the cross-compiling environment is built on the PC computer, and the application layer and the control algorithm layer are programmed. In the aspect of data channel, the data analysis between sensor and master control chip is realized by RS232 and IIC protocol, and the data channel with host computer is established by socket communication protocol under TCP. The measurement data of acceleration and gyroscope in the current sensor are fused by weighted method, and the current motion attitude is estimated. The difference between the attitude angle obtained and the stable attitude angle is used as the fuzzy input of the PID controller. The motor regulation quantity corresponding to the fast convergence of the current angle to the steady state angle is obtained through the calculation of the PID control algorithm. Thus, the rotation speed of the rotor is changed to make the aircraft adjust to a steady attitude. In this paper, the overall scheme of autonomous flight control system of four-rotor aircraft is designed, and the hardware and software platform is built, and the emphasis is put on the sensor debugging and algorithm design. The three convergent algorithms of pitch angle such as proportion integral and differential are explained respectively and the incremental PID software algorithm is designed. Finally, the four rotor pitch axis attitude is modeled and simulated. The test results show that the PID algorithm for the attitude control of the four rotor is feasible, which ensures the stability of the four rotor attitude under the micro air disturbance in the takeoff stage.
【學(xué)位授予單位】：西安科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：V249.1

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本文編號(hào)：2259548