一种四旋翼自主飞行控制系统设计与实现

发布时间：2018-07-24 10:04

【摘要】：由于甲烷和煤尘的存在易引发煤矿爆炸事故，事故发生后灾变现在环境危险等级高，若派救援队员进入现场探索事故情况，会引发二次矿难。由于无法获取事故现场的信息，因而救援专家无法制定有效的方案开展救援工作。目前公认最安全、有效的方法是先派机器人进入事故现场，采集相关环境信息，将环境信息以数据包的形式发送到控制中心，以此作为派救援队员进入现场的判据。根据目前国内矿山救援设备发展状况以及灾变现场的环境复杂性，本文以四旋翼飞行器为研究对象，提出了一种基于测距的四旋翼飞行器自主飞行控制系统，通过实验验证了该系统的可行性。首先设计了自主飞行实现方案，该方案分为两部分：控制信号采集量化和控制信号反灌。根据方案要求设计控制系统硬件、软件，选择ARM7作为系统硬件开发平台，ADS1.2作为软件开发工具。将GPIO连接接收机输出端，通过设置中断、定时器，采集量化控制信号。在飞行器周围安装测距传感器，用于测量空间位置信息。系统将控制信号量化值和空间位置信息组帧，通过无线的方式发送至上位机中。经过多次飞行实验得到大量的样本数据，，根据控制信号反灌要求，从中总结出控制信号与飞行器飞行姿态的关系，重点分析了起飞、降落以及不同高度与控制信号之间的关系。利用C语言描述该对应关系，编译生成二进制文件烧到主控板中，GPIO输出与飞行姿态对应的控制信号，实现飞行器自主起飞、悬停、降落。另外机载主控系统具有环境信息采集功能，把采集到有害气体浓度经过AD转换成数字量，通过无线方式发送到安装有灾变环境评估系统的上位机中，该上位机对收到数据进行分析、判断等操作，为救援工作的展开提供了宝贵的依据，避免二次矿难的发生。本文最后对系统硬件、软件进行了测试，并成功实现了四旋翼飞行器自主起飞、高度锁定、降落，结果表明预期方案可行。
[Abstract]:Because the existence of methane and coal dust can easily lead to coal mine explosion accident, the disaster after the accident now has a high environmental danger grade. If the rescue team is sent to the scene to explore the accident situation, it will lead to the secondary mine disaster. Because of the inability to obtain information about the accident site, rescue experts are unable to formulate an effective plan to carry out rescue work. At present, it is recognized that the safest and most effective method is to send the robot into the scene of the accident, collect the relevant environmental information, and send the environmental information to the control center in the form of data packet, which is regarded as the criterion of sending rescue team members into the scene. According to the development situation of mine rescue equipment and the environment complexity of the disaster scene, this paper presents an autonomous flight control system for four-rotor aircraft based on ranging, taking the four-rotor aircraft as the research object. The feasibility of the system is verified by experiments. At first, the realization scheme of autonomous flight is designed, which is divided into two parts: quantization of control signal and reverse irrigation of control signal. The hardware and software of the control system are designed according to the requirements of the scheme. ARM7 is chosen as the hardware development platform of the system and ADS1.2 is used as the software development tool. The GPIO is connected to the receiver output, and the quantization control signal is collected by setting the interrupt and timer. A ranging sensor is installed around the aircraft to measure spatial position information. The control signal quantization value and spatial position information frame are sent to the upper computer by wireless way. After many flight experiments, a large number of sample data are obtained. According to the control signal recharge requirements, the relationship between the control signal and the flight attitude of the aircraft is summarized, and the relationship between the take-off, landing and different altitude and the control signal is analyzed. The corresponding relation is described by C language and the binary files are compiled and generated. The control signals corresponding to the attitude and the output of GPIO are compiled and generated in the main control board to realize the autonomous take-off hovering and landing of the aircraft. In addition, the airborne master control system has the function of collecting environmental information, converting the collected concentration of harmful gases into digital quantities through AD, and sending it wirelessly to the upper computer equipped with a catastrophic environmental assessment system. The upper computer can analyze and judge the received data, which can provide a valuable basis for the rescue work and avoid the secondary mine disaster. Finally, the hardware and software of the system are tested, and the automatic take-off, altitude locking and landing of the four-rotors are successfully realized. The results show that the expected scheme is feasible.
【学位授予单位】：西安科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TD774

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