基于四旋翼飞行器的环境空气检测装置的研究与设计

发布时间：2018-01-03 10:03

本文关键词：基于四旋翼飞行器的环境空气检测装置的研究与设计　出处：《天津理工大学》2016年硕士论文　论文类型：学位论文

【摘要】：空气污染早已是全球的焦点问题。空气与人的重要关系不言而喻。环境空气中的气体成分、浓度影响着人的健康状况,同时也关系着一些生产工作的安全性。工业生产排放的废气、汽车尾气、居民日常生活排放的污染物都对环境空气造成了严重的污染,因此,实时掌握环境空气的温湿度以及不同成分的浓度具有极其重要的作用与意义。目前的空气检测装置多是固定式或者是便携式。固定式的检测装置只能检测一定范围内的空气参数,使用中存在适用范围小、需考虑安装位置等因素。便携式装置需要人员携带,有时甚至需要进入危险的环境中进行检测,对人员的人身安全存在隐患。本文研究设计了一种基于四旋翼飞行器的环境空气检测装置,能够实现对于危险的、复杂的地理环境、高空环境等的空气检测,同时可使工作人员脱离危险。该系统不仅能扩大检测范围,而且能够实现不同环境、区域的空气检测。设计的主要工作包括以下内容:首先对四旋翼飞行器进行研究,分析其结构特点、飞行原理,建立机体坐标系与地面坐标系,得到坐标转换矩阵。根据牛顿-欧拉方程建立飞行器的数学模型。针对建立的四旋翼飞行器的数学模型,设计适合的飞行控制方案。将四旋翼飞行器飞行分成姿态控制回路和位置控制回路进行控制器设计。针对飞行控制系统设计了PID控制器与模糊自整定PID控制器,在MATLAB环境下进行了控制效果的仿真对比,验证了模糊自整定PID控制的优势。其次针对能够实现四旋翼飞行器在空气检测上的应用,分析了飞行器的主要组成部分,并且研究了组成部分的原理与功能。再次设计空气参数检测装置。该装置主要用于实现环境的温度、湿度、CO浓度、CO2浓度及空气中的烟雾浓度的检测,它将STM32F103RBT6作为控制器,通过FatFs文件系统将各个传感器测得的数据储存在SD卡。最后将空气检测装置搭载在四旋翼飞行器上进行实验测试。将四旋翼飞行器检测系统在距离火源不同的位置进行飞行,并进行数据测试,测试数据显示所设计的系统飞行稳定,检测装置能够准确测得环境数据。此外,在正常环境中也进行了实验测试,进一步证明该系统能够正确、有效的工作。
[Abstract]:Air pollution is already a focus in the world. It is self-evident important relationship with people. The air gas components in air, concentration affects people's health, but also related to the safety production work. Gas, industrial production emissions of automobile exhaust pollutants, residents of the daily life of the environment caused by air emissions serious pollution, therefore, has the extremely important role and significance of the real-time control of ambient air temperature and humidity and concentration of different components. The air current detecting device is fixed or portable. A certain range only air parameters detecting device fixed in the use of the existing small scope of application, need to consider the installation the location and other factors. The portable device requires personnel to carry, and sometimes need to detect into dangerous situations, the existence of hidden dangers to the personal safety of the research. The design of an air detection device based on four rotor, can realize the dangerous and complex geographical environment, high air testing environment, and can make the staff out of danger. The system can not only expand the detection range, but also can realize the different environment, air detection area. The main task of the design includes the following content: first study of four rotor aircraft, analyzes the structure, principle of flight, the establishment of the body coordinate system and earth coordinate system, coordinate transformation matrix. According to the mathematical model of Newton Euler Fang Chengjian aircraft. On the basis of the established mathematical model of four rotor aircraft, designed for flight control scheme four. Rotorcraft flying into the attitude control loop and position control loop controller is designed. According to the flight control system design PID controller with fuzzy self Tuning of PID controller, simulation of control effect in the MATLAB environment, verify the fuzzy self-tuning PID control advantages. Secondly, to achieve the application of four rotor aircraft in the air testing, analysis of the main part of the aircraft, and the study group into the principle and function of part of the design of air again. Parameter detection device. The device is mainly used to achieve environmental temperature, humidity, CO concentration, CO2 concentration and detection of smoke in the air, it will STM32F103RBT6 as a controller, through the FatFs file system, each sensor measured data stored in the SD card. The air detection device equipped with experimental test in four rotor aircraft the four rotor aircraft. The flight distance of fire detection system in different locations, and test data, test data display system for stable flight design, inspection The measuring device can accurately measure the environmental data. In addition, the experimental test is also carried out in the normal environment, which further proves that the system is able to work correctly and effectively.

【学位授予单位】：天津理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：X831;V275.1

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