多旋翼无人机飞行控制系统设计与实现

发布时间：2018-01-02 11:20

本文关键词：多旋翼无人机飞行控制系统设计与实现　出处：《南京航空航天大学》2016年硕士论文　论文类型：学位论文

【摘要】：多旋翼无人机可实现垂直起降、定点悬停等功能,在军事和民用领域得到广泛应用。本文以多旋翼无人机为研究对象,独立自主设计了一款基于双ARM架构的飞行控制系统硬件平台;基于该平台,采用数据融合算法提高传感器数据的精度,设计了多种飞行模式下的控制律和异常情况下的应急和安全保护算法;最终通过试飞测试,验证了整个飞控系统的可靠性和优越性。首先,从可扩展性和可靠性出发,采用模块化设计的思想,完成了基于双ARM架构的硬件平台,重点设计了控制器核心模块、双余度姿态传感器、电源模块、输入输出模块等电路原理图,并完成了PCB板的设计和硬件调试工作,在此基础上设计了多旋翼无人机飞行控制律以及不同旋翼结构下的电机控制信号分配算法。其次,针对单传感器精度低和可靠性差等问题,设计了互补滤波和卡尔曼滤波相结合的数据融合算法,实现了GPS、气压计、加速度计之间的数据融合算法,获得精度较高的位置和速度信息,实现了多旋翼无人机的高精度位置控制。再次,为了保证多旋翼无人机的飞行安全,针对动力电池低电压,GPS、遥控器及地面站信号丢失等异常情况,设计了飞行控制系统应急处理和安全保护程序。同时,设计了多旋翼无人机自主避障的软硬件,为实现复杂环境下的安全飞行奠定了基础。最后,对所设计的多旋翼无人机飞行控制系统进行了室内、室外试飞测试。测试结果表明,该多旋翼无人机飞控系统飞行功能丰富,具有较高的飞行精度和安全性,对多旋翼无人机飞行控制技术的进一步发展具有重要的借鉴价值。
[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.

【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279;V249.1

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