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  本文選題：四旋翼飛行器 + 姿態(tài)解算�。� 參考：《大連理工大學(xué)》2012年碩士論文

【摘要】：四旋翼飛行器是一種結(jié)構(gòu)簡單、可垂直起降的、多旋翼式飛行器,特別適合在近地面環(huán)境執(zhí)行搜尋和偵查任務(wù),在民用和軍事領(lǐng)域都有著廣泛的應(yīng)用前景。本文主要討論了四旋翼飛行器的飛行系統(tǒng)控制和實(shí)現(xiàn)。首先,四旋翼飛行器是一種六自由度的四個輸入力,六個輸出的欠驅(qū)動系統(tǒng)(欠驅(qū)動系統(tǒng)是指少輸入多輸出系統(tǒng))。它的前后和左右兩組螺旋槳的轉(zhuǎn)動方向相反,并且通過改變螺旋槳速度來改變升力,進(jìn)而改變四旋翼飛行器的姿態(tài)和位置。 本文在綜述四旋翼飛行器的發(fā)展歷史和國內(nèi)外研究現(xiàn)狀的基礎(chǔ)上,總結(jié)了四旋翼飛行器的研究意義和關(guān)鍵技術(shù)。綜合自己的特長和現(xiàn)有的技術(shù),對四旋翼飛行器的飛行控制系統(tǒng)硬件設(shè)計(jì)和軟件設(shè)計(jì)實(shí)現(xiàn)。 而硬件設(shè)計(jì)又分為四部分：姿態(tài)測量模塊,飛行控制模塊,無刷電機(jī)控制,以及上位機(jī)控制模塊。而內(nèi)部的姿態(tài)傳感器數(shù)據(jù)將使用開源網(wǎng)站上的姿態(tài)解算AHRS(自動航向基準(zhǔn)系統(tǒng))四元數(shù)(最簡單的超復(fù)數(shù))原理,單獨(dú)用一塊ARM的STM32電路板接收姿態(tài)傳感器IMU6050(3軸加速度計(jì)和3軸陀螺儀的整合慣導(dǎo)系統(tǒng))芯片,3軸電子羅盤芯片,以及電子氣壓高度計(jì)共10軸的數(shù)據(jù)信息,然后進(jìn)行數(shù)據(jù)融合處理,最后將原始接收的數(shù)據(jù)計(jì)算得到飛行器的航向角,俯仰角,橫滾角,再發(fā)送給姿態(tài)控制電路板進(jìn)行控制。而飛行控制模塊也是用ARM的STM32接收姿態(tài)解算信息后,通過PID控制算法解算后,得到各個旋翼轉(zhuǎn)速值,再傳輸給無刷電調(diào)模塊,控制電機(jī)轉(zhuǎn)速。而飛行器控制模塊,是在AVR(ATMEL公司AVR微控制器)MCU (Micro Control Unit)上基于脈沖寬度調(diào)制(PWM:Pulse Width Modulation)的無刷電機(jī)控制,電機(jī)主要是通過I2C (Inter—Integrated Circuit即12C)接收飛行器控制板傳輸來的飛行控制電機(jī)轉(zhuǎn)速控制信號,并將信號轉(zhuǎn)換成PWM來控制電機(jī)轉(zhuǎn)速。 軟件設(shè)計(jì)是在對四旋翼飛行器的動力學(xué)模型上的構(gòu)建后,對四旋翼飛行器進(jìn)行位置PID控制和姿態(tài)PID控制,最后結(jié)合軟件設(shè)計(jì)來實(shí)現(xiàn)。
[Abstract]:Four-rotor aircraft is a kind of simple structure, vertical take-off and landing, multi-rotor aircraft, especially suitable for the near ground environment to carry out search and reconnaissance missions, and has a wide range of application prospects in both civil and military fields. This paper mainly discusses the flight system control and realization of four-rotor aircraft. First of all, a four-rotor aircraft is a six-degree-of-freedom system with four input forces and six output underactuated systems (the under-drive system refers to a system with less input and more outputs). The direction of rotation of the propeller is opposite to that of the two groups of propellers, and the lift force is changed by changing the speed of the propeller, and then the attitude and position of the four-rotor aircraft are changed. On the basis of summarizing the history of the development of the four-rotor aircraft and the present research situation at home and abroad, the research significance and key technology of the four-rotor aircraft are summarized in this paper. The hardware design and software design of the flight control system of the four-rotor aircraft are realized by integrating their own specialties and existing technologies. The hardware design is divided into four parts: attitude measurement module, flight control module, brushless motor control, and upper computer control module. The internal attitude sensor data will use the AHRS quaternion (the simplest hyperplural) principle from an open source Web site. A single ARM STM32 circuit board is used to receive 3-axis electronic compass chip of attitude sensor IMU6050(3 axis accelerometer and 3-axis gyroscope integrated inertial navigation system, as well as 10-axis data information of electronic barometric altimeter. Then the data fusion process is carried out. Finally, the course angle, pitch angle and roll angle of the aircraft are calculated by the original received data, and then sent to the attitude control circuit board for control. The flight control module also receives the attitude solution information with the STM32 of ARM, obtains the rotational speed of each rotor by PID control algorithm, and then transfers it to the brushless electric adjustment module to control the motor speed. The aircraft control module is a brushless motor control system based on pulse width modulation (PWM: pulse Width Modulation) on AVR(ATMEL AVR Micro Control Unit. The motor mainly receives the flight control motor speed control signal transmitted by the aircraft control board through I2C Inter-Integrated Circuit (12C) and converts the signal into PWM to control the motor speed. The software design is based on the construction of the dynamic model of the four-rotor aircraft, then the position PID control and the attitude PID control of the four-rotor aircraft are carried out. Finally, the software design is combined with the software design to realize the position control and attitude PID control.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：V249.1

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本文編號：1914549