微型四旋翼无人机的搭建与姿态控制

发布时间：2017-12-31 00:49

本文关键词：微型四旋翼无人机的搭建与姿态控制　出处：《华东理工大学》2015年硕士论文　论文类型：学位论文

【摘要】：微型四旋翼无人机是一种具有四个固定螺旋桨交叉分布,并且通过四个螺旋桨提供动力来实现各种姿态飞行的无人飞行器。其体积小、结构简单、安全性高,可以完成超低空侦察、干扰、监视等许多复杂任务,目前正成为人们研究的焦点。本课题搭建了微型四旋翼无人机的飞行平台,设计并实现了一种基于Cortex-M4内核芯片STM32F407为核心的飞行控制系统,并对悬停和低速飞行状态下的姿态控制进行探索性研究。具体工作如下：针对微型四旋翼无人机的空气和动力学特点,建立了飞行器的空气动力学方程,分析了飞行基本原理,并建立了飞行器的基本坐标系；针对双CPU之间的通信问题,设计并实现了一种基于并口通信方案的数据交换方案,自定义了相关通信协议,实现了一种简便可行的方案；对微型四旋翼无人机硬件模块进行了详细的设计,分析了各模块的设计要求与原理,设计并完成了飞控PCB板；重点研究了微型四旋翼无人机的姿态控制。首先,设计了小角度下的Backstepping姿态控制律并采用Matlab进行仿真验证。在分析此姿态控制律的局限性后,提出了改进型Backstepping姿态控制律,进行了相应的仿真验证,仿真后控制效果较为明显；研究了两种姿态解算与姿态融合的两种方法,即互补滤波法和DMP融合法。分别对其进行设计与验证,经实验验证,对于本课题而言DMP法较为有效；最后,软件设计飞行控制系统,并用已搭建的飞行器模型平台进行在线调试,从而验证了算法的可行性。
[Abstract]:Micro four-rotor UAV is a kind of unmanned aerial vehicle with four fixed propeller cross distribution and four propellers to provide power to achieve a variety of attitude flight. Its size is small simple structure and high security. It can accomplish many complex tasks, such as very low altitude reconnaissance, jamming, surveillance and so on. In this paper, the flight platform of micro four-rotor UAV is built, and a flight control system based on Cortex-M4 core chip STM32F407 is designed and implemented. The attitude control of hovering and low speed flight is studied. The main work is as follows: According to the air and dynamics characteristics of the micro four rotor UAV, the aerodynamics equation of the aircraft is established, the basic flight principle is analyzed, and the basic coordinate system of the aircraft is established. Aiming at the problem of communication between two CPU, a data exchange scheme based on parallel port communication scheme is designed and implemented. The hardware module of micro four-rotor UAV is designed in detail, the design requirements and principles of each module are analyzed, and the flight control PCB board is designed and completed. The attitude control of the micro four rotor UAV is studied emphatically. First of all. The Backstepping attitude control law with small angle is designed and simulated by Matlab. After analyzing the limitation of this attitude control law. The improved Backstepping attitude control law is proposed, and the corresponding simulation is carried out. The control effect is obvious after the simulation. Two methods of attitude solution and attitude fusion, namely complementary filtering method and DMP fusion method, are studied in this paper. The design and verification of the two methods are carried out respectively. The experimental results show that the DMP method is more effective for this subject. Finally, the flight control system is designed and debugged online with the built aircraft model platform, which verifies the feasibility of the algorithm.
【学位授予单位】：华东理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP273;V279

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