基于CC3200的微小型四軸無(wú)人機(jī)設(shè)計(jì)與實(shí)現(xiàn)
發(fā)布時(shí)間：2018-12-11 10:27
【摘要】：微小型四軸無(wú)人機(jī)因其機(jī)動(dòng)靈活、機(jī)械結(jié)構(gòu)簡(jiǎn)單、性價(jià)比較高等特點(diǎn),逐漸成為無(wú)人機(jī)領(lǐng)域中的研究熱點(diǎn)。在對(duì)微小型四軸無(wú)人機(jī)進(jìn)行設(shè)計(jì)時(shí),一個(gè)穩(wěn)定的嵌入式飛行控制系統(tǒng)是實(shí)現(xiàn)其穩(wěn)定飛行的重要因素�？v觀目前大部分的開(kāi)源飛行控制系統(tǒng),其硬件設(shè)計(jì)大多采用的是主控MCU外接獨(dú)立無(wú)線通信模塊的模式,這樣的設(shè)計(jì)雖然提升了拓展性,但卻不利于飛行控制板的小型化與微型化,兩者間不穩(wěn)定的連接方式也降低了系統(tǒng)的魯棒性;同時(shí)其系統(tǒng)的整體飛行穩(wěn)定性不高,一般不具備高度控制功能或是定高精度不足以滿足一些特定任務(wù)的需求。針對(duì)這些問(wèn)題,本文提出一種以CC3200這款集成Wi-Fi無(wú)線通信功能的單芯片微控制器作為主控芯片,采用改進(jìn)的濾波融合算法進(jìn)行傳感器數(shù)據(jù)融合,利用超聲波傳感器實(shí)現(xiàn)高度控制的飛行控制系統(tǒng)方案。此方案提高了飛行控制板的集成度與穩(wěn)定性,減小了飛行控制板的體積,同時(shí)提高了四軸無(wú)人機(jī)的飛行穩(wěn)定性并實(shí)現(xiàn)了較高精度的定高懸停功能。本文的主要研究及設(shè)計(jì)內(nèi)容如下:1.在了解微小型四軸無(wú)人機(jī)組成結(jié)構(gòu)的基礎(chǔ)上,對(duì)其飛行控制原理及相關(guān)算法進(jìn)行了深入分析,并根據(jù)實(shí)際應(yīng)用中存在的問(wèn)題對(duì)現(xiàn)有算法進(jìn)行了改進(jìn),提出了基于互補(bǔ)濾波及Mahony濾波的傳感器數(shù)據(jù)濾波融合方法;接著研究了 PID控制算法在微小型四軸無(wú)人機(jī)飛行姿態(tài)控制中的應(yīng)用,完成了相應(yīng)控制系統(tǒng)的設(shè)計(jì)。2.以CC3200為控制核心,設(shè)計(jì)了微小型四軸無(wú)人機(jī)的硬件系統(tǒng)。內(nèi)容包括硬件總體框架設(shè)計(jì)、飛行控制板硬件電路的設(shè)計(jì)及其他硬件部件的選型。3.根據(jù)系統(tǒng)需求,設(shè)計(jì)了此微小型四軸無(wú)人機(jī)的軟件系統(tǒng),完成了飛行控制板底層驅(qū)動(dòng)構(gòu)件及功能軟件、PC端調(diào)試軟件及手機(jī)端Android遙控App軟件的設(shè)計(jì)。4.在完成硬件電路焊接測(cè)試、整機(jī)組裝及控制算法的參數(shù)調(diào)試后,進(jìn)行了整機(jī)實(shí)地飛行對(duì)比測(cè)試,給出測(cè)試數(shù)據(jù)分析及測(cè)試結(jié)論,并對(duì)整機(jī)測(cè)試中出現(xiàn)的典型問(wèn)題及解決方案進(jìn)行了闡述。飛行測(cè)試結(jié)果表明所設(shè)計(jì)的基于CC3200的微小型四軸無(wú)人機(jī)已能夠?qū)崿F(xiàn)受控的穩(wěn)定飛行及定高懸停功能,可作為實(shí)驗(yàn)平臺(tái)進(jìn)行后續(xù)進(jìn)一步的研究。
[Abstract]:Because of its flexible maneuverability, simple mechanical structure and high performance to price ratio, micro four axis UAV has gradually become a research hotspot in the field of unmanned aerial vehicle (UAV). A stable embedded flight control system is an important factor in the design of micro four axis UAV. Throughout the majority of open source flight control systems, most of its hardware design is the main control MCU external independent wireless communication module mode, although such a design improved the expansibility, However, it is not conducive to the miniaturization and miniaturization of the flight control board, and the unstable connection between the two reduces the robustness of the system. At the same time, the overall flight stability of the system is not high, generally it does not have the function of altitude control or the accuracy of height determination is not enough to meet the needs of some specific tasks. In order to solve these problems, this paper presents an improved filter fusion algorithm for sensor data fusion based on CC3200, a single-chip microcontroller integrated with Wi-Fi wireless communication function as the main control chip. The flight control system of altitude control is realized by ultrasonic sensor. This scheme improves the integration and stability of the flight control board, reduces the volume of the flight control board, and improves the flight stability of the four-axis UAV and realizes the high altitude hovering function with high precision. The main research and design contents are as follows: 1. On the basis of understanding the structure of micro four-axis UAV, the flight control principle and related algorithms are deeply analyzed, and the existing algorithms are improved according to the existing problems in practical application. A fusion method of sensor data filtering based on complementary filter and Mahony filter is proposed. Then, the application of PID control algorithm in the flight attitude control of micro four-axis UAV is studied, and the corresponding control system is designed. 2. Taking CC3200 as the control core, the hardware system of micro four axis UAV is designed. The contents include the design of the overall hardware frame, the design of the hardware circuit of the flight control board and the selection of other hardware components. 3. According to the requirement of the system, the software system of the micro four-axis UAV is designed. The bottom driving component and function software of the flight control board, the debugging software of the PC terminal and the Android remote control App software of the mobile phone are designed. 4. After completing the hardware circuit welding test, the whole machine assembly and the parameter debugging of the control algorithm, the field flight contrast test of the whole machine is carried out, and the analysis of the test data and the test conclusion are given. The typical problems and solutions in the testing of the whole machine are also described. The flight test results show that the designed micro-four-axis UAV based on CC3200 has been able to realize the controlled stable flight and hovering at fixed altitude, and can be used as an experimental platform for further research.
【學(xué)位授予單位】：蘇州大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：V279
[Abstract]:Because of its flexible maneuverability, simple mechanical structure and high performance to price ratio, micro four axis UAV has gradually become a research hotspot in the field of unmanned aerial vehicle (UAV). A stable embedded flight control system is an important factor in the design of micro four axis UAV. Throughout the majority of open source flight control systems, most of its hardware design is the main control MCU external independent wireless communication module mode, although such a design improved the expansibility, However, it is not conducive to the miniaturization and miniaturization of the flight control board, and the unstable connection between the two reduces the robustness of the system. At the same time, the overall flight stability of the system is not high, generally it does not have the function of altitude control or the accuracy of height determination is not enough to meet the needs of some specific tasks. In order to solve these problems, this paper presents an improved filter fusion algorithm for sensor data fusion based on CC3200, a single-chip microcontroller integrated with Wi-Fi wireless communication function as the main control chip. The flight control system of altitude control is realized by ultrasonic sensor. This scheme improves the integration and stability of the flight control board, reduces the volume of the flight control board, and improves the flight stability of the four-axis UAV and realizes the high altitude hovering function with high precision. The main research and design contents are as follows: 1. On the basis of understanding the structure of micro four-axis UAV, the flight control principle and related algorithms are deeply analyzed, and the existing algorithms are improved according to the existing problems in practical application. A fusion method of sensor data filtering based on complementary filter and Mahony filter is proposed. Then, the application of PID control algorithm in the flight attitude control of micro four-axis UAV is studied, and the corresponding control system is designed. 2. Taking CC3200 as the control core, the hardware system of micro four axis UAV is designed. The contents include the design of the overall hardware frame, the design of the hardware circuit of the flight control board and the selection of other hardware components. 3. According to the requirement of the system, the software system of the micro four-axis UAV is designed. The bottom driving component and function software of the flight control board, the debugging software of the PC terminal and the Android remote control App software of the mobile phone are designed. 4. After completing the hardware circuit welding test, the whole machine assembly and the parameter debugging of the control algorithm, the field flight contrast test of the whole machine is carried out, and the analysis of the test data and the test conclusion are given. The typical problems and solutions in the testing of the whole machine are also described. The flight test results show that the designed micro-four-axis UAV based on CC3200 has been able to realize the controlled stable flight and hovering at fixed altitude, and can be used as an experimental platform for further research.
【學(xué)位授予單位】：蘇州大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：V279
【參考文獻(xiàn)】
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