航空探测无人机自主飞行控制研究

发布时间：2018-01-09 18:26

本文关键词：航空探测无人机自主飞行控制研究　出处：《吉林大学》2016年硕士论文　论文类型：学位论文

【摘要】：在现今矿产资源紧缺的时期,灵活、高效、安全的无人机航空探测技术有着广阔的发展前景,该项技术在国际上早已受到学者们的广泛关注并成为研究的热点。目前我国在使用无人机平台作航空探测方面仍处于初级研究阶段,无人机平台的选择、飞行控制方法等仍在不断的探索中,目前采用固定翼无人机作为航空探测平台的方式无法进行精确的低空、低速测量。本文以旋翼无人机为载体,对航空探测平台的低空、低速自主飞行控制系统展开了研究。通过总结航空探测无人机技术的国内、外研究现状,以及几种常用的无人机飞行控制算法,选用经典的闭环PID控制理论来设计无人机平台的飞行控制系统的控制器;通过对无人机平台的结构、受力、飞行原理分析,再结合牛顿—欧拉方程组,建立了平台系统的动力学模型;通过简化系统模型,将平台的飞控系统分为速度、姿态、位置等三个控制回路,分别对三个回路设计PID回路控制器,并在MATLAB/SIMULINK软件中进行平台系统飞行仿真实验,实验结果验证了设计的PID回路控制器的有效性。以STM32为主控器设计了一套适用于航空探测无人机的飞行控制系统,系统主要包括电源、控制、无线通信、测量、电机驱动等5个模块。主控器模块接收地面站的控制指令,根据测量模块的数据进行速度、姿态和位置的PID控制计算4个电机的控制量,并输出对应的PWM控制信号;测量模块中包括惯性测量、方向测量和气压测量三部分,向主控器提供平台的姿态和位置数据;电机驱动模块对主控器输出的PWM信号通过电调模块放大进行无刷电机驱动;无线通信模块选择3-DR数传电台,完成航空探测平台机载部分与地面站之间的数据传输。通过飞行试验结果验证了本文设计的平台飞控系统实现了飞行平台悬停状态下的滚转角?、俯仰角?、偏航角?和高度h的控制,实验结果表明平台在悬停时滚转角、俯仰角、偏航角的角度变化范围都控制在1°之间,平台在悬停时上下抖动范围不超过0.2m,表明了所设计的无人机平台的控制方法的可行性,为后续的自主飞行控制研究奠定了基础。
[Abstract]:In the period of the shortage of mineral resources, flexible, efficient, safety of the UAV aerial detection technology has broad prospects for development, this technology has received extensive attention of scholars and become a research hotspot in the world. At present our country in the use of the UAV platform for aviation detection is still at the primary stage of the study, no UAV platform selection, flight control method is still in constant exploration, the fixed wing UAV as an aviation detection platform cannot accurately at low altitude, low speed measurement. This paper takes rotor UAV as a carrier of low altitude aircraft detection platform, low-speed autonomous flight control system is studied. Through the summary aerial reconnaissance UAV technology domestic and foreign research status, and UAV flight control algorithms, to design the UAV platform with the classical theory of closed-loop PID control The controller of the flight control system; the structure of the UAV platform force, flight principle analysis, combined with the Newton Euler equations, established the dynamics model of the platform system; through the simplified system model, the flight control system platform is divided into speed, attitude, position and other three control loops, respectively in three a circuit design of PID loop controller, and flight simulation platform system in MATLAB/SIMULINK software, the experimental results verify the validity of PID loop controller design. Using STM32 as the main control device is designed to detect aircraft flight control system of UAV system, including power supply, control, wireless communication, measurement. The motor drive module 5. Control command of the main controller module receiving ground station, speed measurement module according to the data, control the attitude and position of PID control calculation of 4 electric machines, and transportation The corresponding PWM control signal; inertial measurement includes measuring module, direction measurement and pressure measurement in three parts, to provide a platform for attitude and position data to the main controller; PWM motor drive signal of the main controller module output amplification of the brushless motor driven by power transfer module; wireless communication module of 3-DR radio, complete data transmission between air detection platform airborne part and ground station. The flight test results verify the platform of flight control system designed in this paper can roll flight platform in hover?, pitch angle, yaw angle and height?? H control, the experimental results show that the platform roll angle, pitch angle in hover the range, the yaw angle angle is controlled at 1 degrees between the platform in hover on the jitter range is less than 0.2m, shows the feasibility of the control method of UAV platform design, for the following The research of autonomous flight control has laid the foundation.

【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279;V249.1

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