小型无人机测控系统设计与实现

发布时间：2018-03-27 15:21

本文选题：无人机　切入点：四元数　出处：《西安建筑科技大学》2016年硕士论文

【摘要】：小型无人机因具有结构简单、控制灵活、性价比高的特点正在得到日益广泛的应用。飞行测控系统作为无人机系统的重要组成部分,就其开发过程中所涉及的关键技术进行研究,对小型无人机的工程应用有重要意义。本文以工程实际中的小型四旋翼无人机为应用平台,在总结国内外小型无人机研究现状的基础上,开展了小型无人机飞行控制系统的设计和研究。首先,根据无人机的应用需求,提出飞行测控系统的总体方案。系统总体分为两个部分:机载控制器和地面测控系统,其中机载控制器完成无人机姿态检测和飞行控制功能;地面测控系统通过无线通信线路实现机上信息和地面指令的数据交互。随后对实验平台所采用的四旋翼无人机机体结构和飞行原理进行了分析。其次,按照飞行测控系统的总体结构,对机载控制器的硬件系统进行了模块化设计。控制器以STM32F407微处理器为主控制模块,同时集成MEMS传感器模块、无线通信模块、GPS定位模块以及电机输出控制模块,设计了相关外围电路,完成硬件设计。再次,详细介绍了飞行测控系统的软件设计。针对四旋翼无人机的飞行特点,本文设计了一套基于四元数和多传感器融合的姿态解算系统,对无人机姿态角进行解算,并使用双闭环PID控制器进行飞行姿态控制,实现无人机的稳定飞行。随后根据系统功能要求完成机载控制器与地面站系统的软件设计。最后,对设计的无人机测控系统进行地面和飞行实验,实验结果验证了系统各模块与算法设计的有效性。
[Abstract]:Because of its simple structure, flexible control and high performance-to-price ratio, small UAV is widely used. Flight measurement and control system is an important part of UAV system. The research on the key technologies involved in the development process is of great significance to the engineering application of the small UAV. In this paper, the application platform of the small four-rotor UAV in engineering practice is taken as the application platform. On the basis of summarizing the research status of small UAV at home and abroad, the design and research of UAV flight control system are carried out. Firstly, according to the application requirements of UAV, The system is divided into two parts: the airborne controller and the ground control system, in which the airborne controller completes the UAV attitude detection and flight control functions; The ground measurement and control system realizes the data exchange between the aircraft information and the ground instructions through wireless communication lines. Then, the structure and flight principle of the four-rotor UAV used in the experimental platform are analyzed. According to the overall structure of flight measurement and control system, the hardware system of airborne controller is modularized. The controller is composed of STM32F407 microprocessor and MEMS sensor module. Wireless communication module, GPS positioning module and motor output control module, designed related peripheral circuits, completed hardware design. Thirdly, the software design of flight measurement and control system is introduced in detail. In this paper, an attitude resolution system based on quaternion and multi-sensor fusion is designed. The attitude angle of UAV is calculated, and the dual closed loop PID controller is used to control the attitude of UAV. Then the software design of airborne controller and ground station system is completed according to the functional requirements of the system. Finally, the ground and flight experiments are carried out on the designed UAV TT & C system. Experimental results verify the effectiveness of the system modules and algorithm design.
【学位授予单位】：西安建筑科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279;V249

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