具有巡防勘察功能的四旋翼飞行器设计与导航系统研究

发布时间：2018-05-07 17:04

本文选题：四旋翼飞行器 + PID控制　；参考：《中国计量学院》2015年硕士论文

【摘要】：四旋翼飞行器由于其独特的机体结构与灵活的飞行方式,具有高机动性、适应能力强和性能稳定等优点,在军用和民用领域有广阔的应用前景。近年来,随着高新技术的不断发展与科研成果的持续转化,自动化、现代化水平正在不断提高。针对我国公安、消防和交通等部门对特种科技设备的需求,研究具有巡防勘察功能的四旋翼飞行器,降低了公安消防等人员的工作危险性和工作强度,能够有效地提高相关部门的工作效率与紧急突发事件的反应速度。对此,从飞行原理和机体结构入手,在研究导航系统的基础上,围绕搭载辅助性功能设备的四旋翼飞行器控制系统的设计,展开了如下工作：(1) 分析四旋翼飞行器实际工作环境,针对工程应用需求,在查阅相关资料、文献的基础上,把安全可靠、操纵维护简单、成本低廉的作为主要考虑因素,在续航时间、有效荷载、控制范围等方面提出了设计的总体要求,并设计制作了实验样机。(2) 根据力学原理分析飞行器在飞行过程中的受力情况,建立了飞行动力学模型；基于动力学模型设计了PID控制器,包括姿态稳定控制、高度稳定控制、和位置稳定控制,并通过仿真验证了控制回路的控制效果。(3) 根据设计的总体要求构建了具有一定通用性与扩展性的四旋翼飞行器模块化硬件系统。把体积小、功耗低、精度高作为主要考虑因素设计了以ATMEGA1284为核心控制芯片的硬件系统,主要包括电源模块,姿态检测模块,电机驱动模块,无线通讯模块,GPS模块。(4) 分析了GPS导航的定位过程和捷联惯性导航系统导航时姿态解算与速度解算方法。研究了惯性导航与卫星导航组合而成的导航系统中Unscented卡尔曼滤波的设计方法与算法流程。(5) 设计了定高悬停实验、飞行姿态控制实验和位置控制实验,验证了制作的样机在户外飞行中稳定可靠,通过搭载摄像头、二轴自稳云台、图传模块等辅助功能性模块,设计交通环境监控实验,证明了四旋翼巡防勘察功能的实现,可以达到设计的总体要求。
[Abstract]:Because of its unique airframe structure and flexible flight mode, the four-rotor aircraft has the advantages of high maneuverability, strong adaptability and stable performance, so it has a broad application prospect in military and civil fields. In recent years, with the continuous development of high and new technology and the continuous transformation of scientific research achievements, the level of automation and modernization is constantly improving. In view of the demand for special scientific and technological equipment for public security, fire control and transportation departments in China, a four-rotor aircraft with the function of patrol and reconnaissance is studied, which reduces the working danger and working intensity of the public security and fire protection personnel. Can effectively improve the efficiency of relevant departments and emergency response speed. In this paper, based on the study of the navigation system and the flight principle and the airframe structure, the design of the control system of the four-rotor aircraft with auxiliary functional equipment is discussed, and the following work is carried out: 1) analyzing the actual working environment of the four-rotor aircraft. According to the requirement of engineering application, on the basis of consulting relevant information and literature, taking safety and reliability, simple operation and maintenance, low cost as the main consideration factors, in the life span, the payload, The general requirements of the design are put forward in terms of the control range, and the experimental prototype is designed and manufactured. (2) according to the mechanics principle, the stress situation of the aircraft during flight is analyzed, and the flight dynamics model is established. Based on the dynamic model, the PID controller is designed, which includes attitude stabilization control, high stability control, and position stability control. The control effect of the control loop is verified by simulation. According to the overall requirements of the design, the modular hardware system of the four-rotor aircraft is constructed with certain generality and expansibility. Taking small size, low power consumption and high precision as the main factors, the hardware system with ATMEGA1284 as the core control chip is designed, including power supply module, attitude detection module, motor driving module. The positioning process of GPS navigation and the method of attitude calculation and velocity calculation in sins navigation are analyzed. The design method and algorithm flow of Unscented Kalman filter in inertial navigation and satellite navigation system are studied. The hovering experiment, flight attitude control experiment and position control experiment are designed. It is verified that the prototype is stable and reliable in the outdoor flight. The traffic environment monitoring experiment is designed through the auxiliary functional modules such as the camera, the two-axis self-stabilizing cloud head, the graphic transmission module, and the realization of the reconnaissance function of the four-rotor patrol and defense is proved. Can meet the overall design requirements.
【学位授予单位】：中国计量学院
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V275.1;V249.3

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