基于嵌入式Linux实时控制的四轴飞行器设计与实现

发布时间：2018-03-03 18:10

本文选题：四轴飞行器　切入点：嵌入式Linux操作系统　出处：《西南交通大学》2015年硕士论文　论文类型：学位论文

【摘要】：四轴飞行器是一个可以垂直起飞降落的飞行器,该飞行器具有四个对称的旋翼,当改变四个旋翼的转速时,就可以对飞行姿态进行调整。四轴飞行器可以实现基本的起飞,降落,前进,后退,向左飞,向右飞以及很多高难度的复杂动作。四轴飞行器涉及众多领域的高精尖技术,可以去一些不适合人类去的一些复杂环境去执行任务,比如在战争中进行地面勘察,在民用中可以用于灾后的搜救工作,目标跟踪,也可以对一些地方进行航拍,现在淘宝网已经在试用无人机进行送货,使得送货的时间大大缩短。四轴飞行器有很多其他飞行器不可比的优势,因此研究四轴飞行器是一件很有价值的事情。目前市面上的绝大多数四轴飞行器都是用单片机制作的飞行控制系统,而单片机能支持的应用太少,致使四轴飞行器的应用局限性小。就从航拍这个角度来说,普通的四轴飞行器是将存储卡和相机放在四轴飞行器上,而人们无法根据四轴飞行器的视频对四轴飞行器进行调节,导致航拍效果不佳。现在好一些的四轴飞行器增加了图传功能,这样的四轴飞行器的控制模块和图传模块是完全独立的,不但增加了硬件成本,也增加了四轴飞行器的重量和功耗,使得其续航时间缩短。因此低价格,性能较高的可以进行视频实时传输的四轴飞行器的出现是很有必要的。要解决此问题,则需要带操作系统的四轴飞行器控制系统。另外,利用带操作系统的飞行器控制系统,则四轴飞行器还可以实现精确目标跟踪,飞行器所在区域的地表3D模型构建等单片机无法完成的任务。通过对BeagleBone Black开发板和嵌入式Linux操作系统的研究,制作了基于嵌入式Linux实时控制的四轴飞行器。该飞行器以BeagleBone Black开发板上面的CortexA8处理器为处理核心,通过无线路由器和控制端的PC机连接在一起,该飞行器使用MPU6050作为姿态传感器并根据传感器数据实时调整状态。经实验表明该四轴飞行器能比较好地完成飞行任务,证明基于嵌入式Linux实时控制四轴飞行器是可行的,后期可以在该飞行器的基础上增加更多单片机无法完成的功能。
[Abstract]:A four-axis aircraft is an aircraft that can take off and land vertically. It has four symmetrical rotors, and when the rotation speed of the four rotors is changed, the flight attitude can be adjusted. The four-axis aircraft can achieve basic take-off. Landing, forward, back, left, right, and a lot of difficult, complex movements. The four-axis aircraft involves sophisticated technology in many fields, and it can perform missions in complex environments that are not suitable for humans. For example, conducting ground surveys in war, in civilian use for post-disaster search and rescue work, target tracking, or aerial photography in some places. Now Taobao has been using drones to deliver goods. The delivery time is greatly shortened. The four-axis aircraft has many advantages that are not comparable to other aircraft. So it's a valuable thing to study four-axis aircraft. At present, most of the four-axis aircraft on the market are flight control systems made of single-chip computers, and the applications that single-chip computers can support are too few. This makes the application of quadrilateral vehicles less limited. From the angle of aerial photography, the normal quadrilateral vehicle is to put a memory card and a camera on a quadrilateral vehicle, and people can't adjust the quadrilateral vehicle based on the video of the quadrilateral vehicle. The result of aerial photography is not good. Now the better four-axis vehicle has added graphic transmission function, so the control module and graphic transmission module of the four-axis aircraft are completely independent, which not only increases the cost of hardware, but also increases the cost of hardware. It also increases the weight and power consumption of the four-axis vehicle, which shortens its life span. Therefore, the emergence of a low-cost, high-performance four-axis vehicle that can transmit video in real time is very necessary. To solve this problem, A four-axis aircraft control system with an operating system is required. In addition, using an operating system for aircraft control, the four-axis aircraft can also achieve accurate target tracking. Based on the research of BeagleBone Black development board and embedded Linux operating system, A four-axis aircraft based on embedded Linux real-time control is developed, which uses the CortexA8 processor on the BeagleBone Black development board as the processing core, and is connected together through the wireless router and the PC at the control end. The aircraft uses MPU6050 as attitude sensor and adjusts the state according to the sensor data in real time. The experiment shows that the four-axis aircraft can complete the flight mission well, and it is feasible to control the four-axis aircraft based on embedded Linux in real time. In the later period, we can add more functions which can not be accomplished by single-chip computer on the basis of this aircraft.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.1

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