小型四旋翼飞行器硬件实验平台设计

发布时间：2018-03-30 23:15

本文选题：四旋翼飞行器　切入点：位姿传感模块　出处：《深圳大学》2016年硕士论文

【摘要】：四旋翼飞行器是一种能够垂直起降、空中悬停的旋翼式无人直升机,通过四个旋翼就可以实现各种飞行姿态。其具有操作灵活、结构简单,易于控制等特点,可用于森林救火、空中侦察、监视、航拍等任务,近年来受到人们广泛关注。本文为满足实验室团队研究需要,旨在设计一个小型四旋翼飞行器的硬件实验平台,为团队开展进一步研究工作建立基础。主要工作如以下四个方面:(1)为满足实验室团队研究需求,确定了四旋翼硬件系统的总体结构。(2)根据系统的总体结构,设计一款采用32位处理器STM32VET6的飞控板。飞控板主要包括主控模块、位姿传感模块、飞控程序下载与调试模块、数据存储模块、电源模块、信号显示以及报警电路,其中位姿传感模块采用三轴加速度计、三轴陀螺仪、三轴电子罗盘以及气压计,并扩展一些如IIC、SPI、OLED、JTAG、UART、PWM等常用接口,方便飞控板外扩其他功能模块。并对这些模块进行整合,设计实现了飞控板的PCB布线制板。(3)为了降低位置传感器对四旋翼载重量的影响,设计了无位置传感器无刷直流电机的电子调速器。包括电子调速器的硬件设计和软件设计。硬件设计包括电调的硬件电路设计和PCB布线制板的设计实现。电调软件主要包括无刷电机的启动和换相控制。(4)针对所设计的飞控板和电子调速器进行测试,最后进行实验平台的测试。包括系统供电测试、姿态传感器测试、飞控板输入输出信号测试以及电子调速器的测试,四旋翼飞行测试,且对测试结果进行分析,验证所设计的合理性和可行性。测试结果表明所设计的硬件系统工作正常,四旋翼能够实现预期功能。本文完成了四旋翼的飞控板和电子调速器的设计,搭建了四旋翼的测试环境,进行测试实验,验证了四旋翼硬件设计的可行性,为实验室团队开展下一步的研究工作提供了实验平台。
[Abstract]:The four-rotor aircraft is a kind of unmanned helicopter which can take off and land vertically and hovering in the air. All kinds of flying attitude can be realized through the four rotors.It has the characteristics of flexible operation, simple structure and easy control. It can be used in forest fire fighting, aerial reconnaissance, surveillance, aerial photography and other tasks.In order to meet the needs of laboratory team research, this paper aims to design a hardware experimental platform for a small four-rotor aircraft, and to establish the foundation for further research work of the team.The main work is as follows: 1) in order to meet the research needs of the laboratory team, the overall structure of the four-rotor hardware system is determined. According to the overall structure of the system, a flight control board with 32-bit processor STM32VET6 is designed.Three-axis electronic compasses and barometers, and some common interfaces such as IICI SPI Ole DU JTAG UART PWM, are extended to facilitate the extension of other functional modules on the flight control board.In order to reduce the influence of position sensor on the weight of four rotor, an electronic governor of sensorless brushless DC motor is designed.Including electronic governor hardware design and software design.The hardware design includes the hardware circuit design of electric regulation and the design and realization of PCB wiring board.The electric control software mainly includes brushless motor starting and commutation control. 4) the designed flight control board and electronic governor are tested. Finally, the test platform is tested.It includes system power supply test, attitude sensor test, flight control board input and output signal test, electronic governor test, four-rotor flight test, and analysis of test results to verify the rationality and feasibility of the design.The test results show that the designed hardware system works well and the four rotor can achieve the expected function.In this paper, the flight control board and electronic governor of the four rotor are designed, and the test environment of the four rotor is built, and the test experiment is carried out to verify the feasibility of the hardware design of the four rotor.It provides an experimental platform for the lab team to carry out the next research work.
【学位授予单位】：深圳大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V216.8

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