【摘要】：四旋翼無人飛行器(UAV)因其架構(gòu)簡單、操縱性佳、制造成本低、穩(wěn)定性好、較弱的陀螺效應(yīng)以及良好的空間操作靈活性等特點(diǎn)成為了目前的研究熱點(diǎn)；同時又由于其多變量、非線性、強(qiáng)耦合、欠驅(qū)動的特性,對控制模型以及參數(shù)的設(shè)定有非常嚴(yán)格的要求。課題希望研究設(shè)計一套能在四旋翼飛行器飛行過程中進(jìn)行無線通訊和數(shù)據(jù)分析的遠(yuǎn)程通訊系統(tǒng),實(shí)現(xiàn)操作者對四旋翼飛行器的地面遙控、參數(shù)調(diào)整、數(shù)據(jù)分析等功能,以達(dá)到遠(yuǎn)程實(shí)時監(jiān)控的目的。 研究中選用基于ARM Cortex-M內(nèi)核的STM32芯片作為飛行器和遠(yuǎn)程操作平臺的主控MCU,研發(fā)了相應(yīng)通訊軟件模塊,針對捷聯(lián)慣導(dǎo)模型、空間旋轉(zhuǎn)四元數(shù)和PID電機(jī)控制模型特點(diǎn)進(jìn)行研究,編寫相關(guān)功能程序,實(shí)現(xiàn)了四旋翼飛行器飛行控制功能。同時研究制定了飛行器與地面監(jiān)控平臺之間的無線通訊協(xié)議,根據(jù)協(xié)議進(jìn)行對應(yīng)的編碼與解碼操作,實(shí)現(xiàn)了兩者之間的無線實(shí)時通訊。 通過在監(jiān)控平臺上設(shè)計相關(guān)監(jiān)控界面,成功實(shí)現(xiàn)了試驗(yàn)平臺實(shí)時監(jiān)控、數(shù)據(jù)存檔、參數(shù)整定等功能；搭建的μC/OS一II操作系統(tǒng)保證了地面站開發(fā)模塊具有良好的可擴(kuò)展性,能在后續(xù)開發(fā)中根據(jù)新的需求加入相關(guān)功能。 試驗(yàn)結(jié)果與仿真數(shù)據(jù)表明,研究的四旋翼飛行器及監(jiān)控平臺軟件模塊是有效的。試驗(yàn)運(yùn)行可靠,開發(fā)的代碼算法簡潔,可以為該同類研究開發(fā)提供技術(shù)支持。
[Abstract]:Because of its simple structure, good maneuverability, low manufacturing cost, good stability, weak gyroscope effect and good space operation flexibility, (UAV) has become a hot research topic at present. Nonlinear, strongly coupled and underactuated characteristics require very strict control models and parameters. The subject hopes to study and design a remote communication system that can carry out wireless communication and data analysis during the flight of a four-rotor aircraft, and realize the functions of ground remote control, parameter adjustment, data analysis and so on. In order to achieve the purpose of remote real-time monitoring. In the research, the STM32 chip based on ARM Cortex-M kernel is selected as the main control MCU, of aircraft and remote operation platform. The corresponding communication software module is developed. The characteristics of strapdown inertial navigation model, space rotation quaternion and PID motor control model are studied. The related function program is written to realize the flight control function of the four-rotor aircraft. At the same time, the wireless communication protocol between the aircraft and the ground monitoring platform is developed. The corresponding coding and decoding operations are carried out according to the protocol, and the wireless real-time communication between the two is realized. The function of real-time monitoring, data archiving and parameter setting of the test platform is successfully realized by designing the relevant monitoring interface on the monitoring platform. The 渭 C/OS-II operating system is built to ensure the good expansibility of the ground station development module. Be able to add relevant functions according to new requirements in subsequent development. The experimental results and simulation data show that the software modules of the four-rotor aircraft and the monitoring platform are effective. The test runs reliably and the developed code algorithm is simple, which can provide technical support for the similar research and development.
【學(xué)位授予單位】：華東理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V279;V249

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