發(fā)布時(shí)間：2018-01-02 11:20

  本文關(guān)鍵詞：多旋翼無人機(jī)飛行控制系統(tǒng)設(shè)計(jì)與實(shí)現(xiàn)　出處：《南京航空航天大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 多旋翼無人機(jī) 數(shù)據(jù)融合 自主避障 飛行控制系統(tǒng) 安全保護(hù)

【摘要】：多旋翼無人機(jī)可實(shí)現(xiàn)垂直起降、定點(diǎn)懸停等功能,在軍事和民用領(lǐng)域得到廣泛應(yīng)用。本文以多旋翼無人機(jī)為研究對象,獨(dú)立自主設(shè)計(jì)了一款基于雙ARM架構(gòu)的飛行控制系統(tǒng)硬件平臺(tái);基于該平臺(tái),采用數(shù)據(jù)融合算法提高傳感器數(shù)據(jù)的精度,設(shè)計(jì)了多種飛行模式下的控制律和異常情況下的應(yīng)急和安全保護(hù)算法;最終通過試飛測試,驗(yàn)證了整個(gè)飛控系統(tǒng)的可靠性和優(yōu)越性。首先,從可擴(kuò)展性和可靠性出發(fā),采用模塊化設(shè)計(jì)的思想,完成了基于雙ARM架構(gòu)的硬件平臺(tái),重點(diǎn)設(shè)計(jì)了控制器核心模塊、雙余度姿態(tài)傳感器、電源模塊、輸入輸出模塊等電路原理圖,并完成了PCB板的設(shè)計(jì)和硬件調(diào)試工作,在此基礎(chǔ)上設(shè)計(jì)了多旋翼無人機(jī)飛行控制律以及不同旋翼結(jié)構(gòu)下的電機(jī)控制信號(hào)分配算法。其次,針對單傳感器精度低和可靠性差等問題,設(shè)計(jì)了互補(bǔ)濾波和卡爾曼濾波相結(jié)合的數(shù)據(jù)融合算法,實(shí)現(xiàn)了GPS、氣壓計(jì)、加速度計(jì)之間的數(shù)據(jù)融合算法,獲得精度較高的位置和速度信息,實(shí)現(xiàn)了多旋翼無人機(jī)的高精度位置控制。再次,為了保證多旋翼無人機(jī)的飛行安全,針對動(dòng)力電池低電壓,GPS、遙控器及地面站信號(hào)丟失等異常情況,設(shè)計(jì)了飛行控制系統(tǒng)應(yīng)急處理和安全保護(hù)程序。同時(shí),設(shè)計(jì)了多旋翼無人機(jī)自主避障的軟硬件,為實(shí)現(xiàn)復(fù)雜環(huán)境下的安全飛行奠定了基礎(chǔ)。最后,對所設(shè)計(jì)的多旋翼無人機(jī)飛行控制系統(tǒng)進(jìn)行了室內(nèi)、室外試飛測試。測試結(jié)果表明,該多旋翼無人機(jī)飛控系統(tǒng)飛行功能豐富,具有較高的飛行精度和安全性,對多旋翼無人機(jī)飛行控制技術(shù)的進(jìn)一步發(fā)展具有重要的借鑒價(jià)值。
[Abstract]:Multi rotor UAV can achieve vertical take-off and landing, hovering and other functions, is widely used in military and civilian fields. Based on the multi rotor UAV as the research object, independent design of a flight control system hardware platform based on dual ARM architecture; based on this platform, the data fusion algorithm to improve the accuracy of the sensor data. Emergency and safety protection algorithm of many kinds of flight mode control law and the situation of abnormal design; finally through the flight test, which verified the reliability of the flight control system and superiority. First of all, from the point of view of scalability and reliability, based on the idea of modular design, the dual ARM architecture based on the hardware platform, key design the controller core module, dual redundancy attitude sensor, power supply module, input and output module circuit principle diagram, and completed the design and hardware debugging on the PCB board. Based on the design of multi rotor UAV flight control signal distribution law and control algorithm of motor rotor under different structure. Secondly, aiming at the problem of single sensor of low accuracy and poor reliability, the design of a complementary filter and Calman filter combining data fusion algorithm, the realization of the GPS, the barometer, the data fusion algorithm between accelerometer to obtain high precision, position and speed information, high precision position control to realize multi rotor UAV. Again, in order to ensure the multi rotor UAV flight safety, power battery for low voltage, GPS, remote control and ground station signal loss and abnormal situation, to design the flight control system of emergency treatment and safety protection program at the same time, the hardware and software design of a multi rotor UAV autonomous obstacle avoidance, laid the foundation for the realization of flight safety in complex environment. Finally, the multi rotor UAV design The flight control system is tested indoors and outdoors. The test results show that the multi rotor UAV flight control system has abundant flight functions, high flight accuracy and safety, and it has important reference value for the further development of the multi rotor UAV flight control technology.

【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：V279;V249.1

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 陳孟元;謝義建;陳躍東;;基于四元數(shù)改進(jìn)型互補(bǔ)濾波的MEMS姿態(tài)解算[J];電子測量與儀器學(xué)報(bào);2015年09期

2 曹歡;恒慶海;;四旋翼姿態(tài)軌跡跟蹤的滑模魯棒自適應(yīng)控制[J];北京信息科技大學(xué)學(xué)報(bào)(自然科學(xué)版);2015年02期

3 王世勇;陳陽;李少斌;程凱;楊忠;;多旋翼無人機(jī)執(zhí)行機(jī)構(gòu)故障重構(gòu)技術(shù)研究[J];電光與控制;2015年03期

4 雷金奎;趙晨;陳浩;;一種ARM+DSP架構(gòu)的小型無人機(jī)飛行控制平臺(tái)軟件設(shè)計(jì)[J];電子設(shè)計(jì)工程;2014年15期

5 黃波;丁浩;張孝芳;衡輝;;基于RBF神經(jīng)網(wǎng)絡(luò)的某復(fù)雜裝備故障預(yù)測方法[J];計(jì)算機(jī)仿真;2014年01期

6 吳中華;賈秋玲;;四旋翼幾種控制方法研究[J];現(xiàn)代電子技術(shù);2013年15期

7 李勁松;宋立博;顏國正;;基于自適應(yīng)逆控制方法的小型四旋翼無人直升機(jī)姿態(tài)控制[J];上海交通大學(xué)學(xué)報(bào);2012年06期

8 郭曉鴻;楊忠;陳U，

本文編號(hào)：1368955