一种小型双旋翼技术验证机的设计与研究

发布时间：2018-01-04 03:34

本文关键词：一种小型双旋翼技术验证机的设计与研究　出处：《西北农林科技大学》2016年硕士论文　论文类型：学位论文

【摘要】：倾转旋翼飞机是一种具有重要应用价值的新兴机型,是国外直升机航空工业积极推动的发展方向之一;非共轴式双旋翼直升机技术是研究这种新兴机型的关键储备技术,具有重要的研究价值。本文以实现一种双旋翼飞行器的姿态控制为目的,提出了一种小型双旋翼无人机的整体设计方案。为确认该方案的有效性,设计并制造了相应的技术验证机,并在专门设计的实验装置上对验证机的姿态控制进行了验证。论文首先提出了验证机的理论方案。通过对四旋翼飞行器原理及现有大型旋翼机操纵机构的研究,提出了一种从飞行力学的角度能够满足旋翼机姿态控制的双旋翼飞行器整体设计方案;发明了一种单自由度自动倾斜器和相应旋翼系统,以较精简的机构完成了小型双旋翼无人机姿态控制所需的机械运动;并通过旋翼空气动力学对验证机的设计方案进行了论证。验证机的机械系统是实现设计方案的一个关键。论文通过对验证机飞行操纵机构和机体结构的具体设计,重点包括单自由度自动倾斜器、旋翼系统以及吊舱结构的设计,制造出可用于实验验证的技术验证机样机,并对一些关键性零部件进行了改进。控制系统是实现该设计方案的另一关键。动力学模型是研究飞行器姿态控制的重要工具。论文采用牛顿-欧拉法为验证机建立了数学模型,通过小扰动理论对动力学方程进行简化,解出了双旋翼无人机的操纵力与飞行姿态、运动状态之间的关系,指出验证机姿态控制器的设计可以是三个姿态角和角速度并联校正后的线性叠加。论文采用嵌入式技术设计了飞控系统的硬/软件。通过应用基元旋转、四元数和互补滤波的方法,对惯性传感器组件、磁力计测得的加速度、角速度和三轴磁场强度信息进行处理,解算出飞行器的飞行姿态。采用Stm32F407作为主控芯片,设计了验证机的飞控系统,制作了电子飞控系统的硬件,并采用串级PID控制器设计了验证机的飞控软件。最后,论文对控制器的效果进行了实验验证。通过设计专门的实验装置、分别对飞控系统的单自由度控制、三自由度耦合控制以及验证机实机姿态控制进行实验;通过单自由度控制实验掌握了串级PID参数整定的经验并对控制器的性能和改进方法进行了研究,以四旋翼无人机为平台验证了所设计的飞控系统在三自由度耦合控制下的可行性,最终在验证机上进行了实机测试。实验结果表明,本文所设计的双旋翼无人机可以实现验证机的姿态控制。
[Abstract]:Tiltrotor aircraft is a new type which has important application value, is the direction of development of the aviation industry to actively promote the international helicopter; non coaxial twin rotor helicopter technology is the key research of this new type of reserve technology, has the important research value of this paper. In order to achieve a double rotor aircraft attitude control for the purpose and put forward the overall design scheme of a miniature dual rotor UAV. In order to confirm the effectiveness of the proposed scheme, design and manufacturing technology and the corresponding verification machine, and in the experimental device designed to control the attitude of the machine on the validation is verified. This paper put forward the theory of program verification. Through the research on the machine four rotor aircraft principle and existing large rotorcraft operating mechanism, put forward a kind of in flight dynamics can satisfy the attitude control of dual rotorcraft rotorcraft overall design Plan; the invention of a single degree of freedom automatic tilt and the corresponding rotor system, mechanical movement with a streamlined body to complete the small double rotor UAV attitude control is required; and it is proved by rotor aerodynamics design verification of the machine. The mechanical system validation machine is a key design scheme. Based on the specific design verification mechanism and machine body structure flight control, including single degree of freedom automatic tilt rotor system, and the design of pod structure, which can be used to manufacture a technology demonstrator prototype experiment, and some key parts was improved. The control system is another key the design scheme of the dynamics model is an important tool to study the aircraft attitude control. The Newton Euler method is adopted to establish the mathematical model for the test machine, perturbation theory to the small The kinetic equations are simplified and solved the control force double rotor UAV and flight attitude, the relationship between the state of motion, it is pointed out that the design verification machine attitude controller can be linear superposition of three attitude angle and angular velocity in parallel after correction. The hardware / software design of flight control system through the application of embedded technology. Methods four element rotation, element number and complementary filter, the inertial sensor assembly, magnetometer measured acceleration, angular velocity processing and three axis magnetic field intensity information, calculate the attitude of the aircraft. By using Stm32F407 as the main control chip, design of the flight control system to verify the machine, making the electronic flight control system the design of the hardware and software verification machine PID series controller. Finally, the effect of the controller is verified by experiments. The experimental device designed specifically for flight control system, respectively. A single degree of freedom control system, three degree of freedom coupling control and verification machine real machine attitude control experiment; the single degree of freedom control experiment to control the cascade PID parameter tuning experience and the performance of the controller and the improved method was studied to verify the feasibility of the four rotor UAV flight control system design in three degrees of freedom coupling under the control of the platform, finally carried on the real machine test in the test machine. The experimental results show that the design of the dual rotor UAV attitude control machine can realize the verification.

【学位授予单位】：西北农林科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V275.1

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