【摘要】：為了使生活更加方便和美好,本文基于嵌入式實時操作系統(tǒng)μcos-III在以ARM Cortex M3為核心的微控制器STM32上展開了對便攜式飛行器的初探。本文研究的便攜式飛行器采用四旋翼結(jié)構(gòu)。首先,對它的飛行原理和飛行中的姿態(tài)變化進(jìn)行了詳細(xì)地分析。然后,對它在飛行過程中的受力情況進(jìn)行了探討,并建立了動力學(xué)模型。接著,根據(jù)常用的四旋翼飛行器的結(jié)構(gòu)設(shè)計了便攜式飛行器的機(jī)械結(jié)構(gòu),根據(jù)慣性導(dǎo)航原理設(shè)計了控制系統(tǒng)的電路。該電路主要包括以ARM Cortex M3為核心的STM32控制器模塊,以加速度角速度感知模塊MPU-6050、磁航向感知模塊HMC5883L、大氣壓感知模塊MS5611構(gòu)成的感知模塊,以及電源模塊、通信模塊等。結(jié)合四元數(shù)法和串級PID控制設(shè)計了便攜式飛行器姿態(tài)解算和控制算法,并利用該算法進(jìn)行了控制系統(tǒng)的軟件開發(fā)。其解算和控制過程為:利用MPU-6050感知當(dāng)前狀態(tài)下的加速度和角速度,利用HMC5883L感知到的當(dāng)前地球磁場,經(jīng)過濾波處理后,將加速度數(shù)據(jù)歸一化處理,同時獲取四元數(shù)的重力分量,將兩者的偏差做PI調(diào)節(jié)補(bǔ)償角速度數(shù)據(jù),利用四元數(shù)微分方程以角速度的數(shù)據(jù)去更新四元數(shù),通過四元數(shù)與歐拉角的關(guān)系解算出姿態(tài)角,再利用地球磁場數(shù)據(jù)去修正姿態(tài)角,用期望的姿態(tài)角與當(dāng)前的姿態(tài)角的偏差進(jìn)行串級PID控制,將該輸出轉(zhuǎn)換成PWM形式控制四個電機(jī)的轉(zhuǎn)速來控制便攜式飛行器達(dá)到期望的姿態(tài)。最后,在上位機(jī)PC上開發(fā)出了系統(tǒng)仿真與系統(tǒng)參數(shù)調(diào)試整定模塊,在Simulink上構(gòu)建了便攜式飛行器控制系統(tǒng)的仿真模型,仿真實驗驗證了控制算法的合理性,在Visual Studio集成環(huán)境中用C#語言開發(fā)出了系統(tǒng)參數(shù)調(diào)試整定模塊,整定后的參數(shù)借助通信接口更新至控制系統(tǒng),最終得到了比較好的控制效果。
[Abstract]:In order to make life more convenient and beautiful, this paper based on the embedded real-time operating system 渭 cos-III in the ARM Cortex M3 microcontroller on the STM32 began to explore the portable aircraft. In this paper, a four-rotor structure is used for the portable aircraft. Firstly, the flight principle and attitude change in flight are analyzed in detail. Then, the dynamic model is established. Then, the mechanical structure of the portable vehicle is designed according to the structure of the four-rotor aircraft, and the circuit of the control system is designed according to the inertial navigation principle. The circuit mainly includes STM32 controller module with ARM Cortex M3 as the core, MPU-6050, magnetic heading sensing module HMC5883L, atmospheric pressure sensing module MS5611 with acceleration angular velocity sensing module, power supply module, communication module and so on. Combined with quaternion method and cascade PID control, the attitude calculation and control algorithm of portable vehicle is designed, and the software of the control system is developed by using the algorithm. The calculation and control process is as follows: the acceleration and angular velocity in the current state are sensed by MPU-6050, and the current earth magnetic field perceived by HMC5883L is used to normalize the acceleration data after filtering and processing. At the same time, the gravity component of quaternion is obtained, and the deviation of the two is used to adjust and compensate the angular velocity data by PI. The quaternion is updated with the angular velocity data by using the quaternion differential equation, and the attitude angle is calculated by solving the relationship between quaternion and Euler angle. Then the attitude angle is corrected by the geomagnetic field data, and the error between the desired attitude angle and the current attitude angle is used for cascade PID control. The output is converted into PWM to control the rotation speed of the four motors to control the portable vehicle to achieve the desired attitude. Finally, the system simulation and system parameter tuning module are developed on the host computer PC, and the simulation model of the portable vehicle control system is constructed on the Simulink. The simulation experiment verifies the rationality of the control algorithm. The debugging and setting module of system parameters is developed by C # language in Visual Studio integrated environment. The parameters after setting are updated to the control system by means of communication interface, and the better control effect is obtained.
【學(xué)位授予單位】：西華大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：V249;V279

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