基于串级PID控制算法的四旋翼无人机控制系统设计与实现

发布时间：2018-05-08 10:39

本文选题：四旋翼无人机 + 串级PID控制算法　；参考：《东华大学》2016年硕士论文

【摘要】：随着近几年微电子技术的不断发展,四旋翼无人机取得突飞猛进的发展,同时四旋翼无人机因控制灵活、成本低廉等特点被广泛应用在航拍、遥感监测、灾后救灾、公安、消防、反恐、电影摄像、环境监测、快递派送等相关领域。由于四旋翼无人机是一个典型的非线性、强耦合、欠驱动和多输入多输出的复杂系统,使得四旋翼无人机控制系统成为无人机研究的难点。本论文以四旋翼无人机为研究对象,采用串级PID作为控制系统的偏差纠正算法,设计出一套完整的四旋翼无人机控制系统,论文的主要工作分为四大部分。第一,完成四旋翼无人机控制系统的硬件设计,硬件控制系统由主控模块、姿态数据采集模块、电机驱动模块、通信模块等组成。主控制器采用STM32F407VGT6单片机,遥控指令和电机转速控制分别采用主控制器内部定时器的PWM输入捕获和PWM输出功能,采用惯性测量元器件MPU6050和磁阻传感器AK8975分别测量飞行器的角速度、加速度和磁阻值。通信部分采用无线通信模块实现飞控与上位机之间的通信;第二,实现了无人机空间飞行姿态解算及主控器与姿态测量传感器之间的IIC通信。主控制器读取姿态传感器数据后采用滑动均值滤波和牛顿插值对传感器原始数据进行平滑处理,再采用互补滤波对陀螺仪、加速度计、磁力计的数据进行互补融合,最后采用四元数法解算无人机的空间姿态角;第三,根据牛顿第二定律以及力矩平衡原理,对四旋翼无人机控制系统进行非线性动力学建模,采用LPV法对非线性系统进行线性化处理,得到无人机各个通道的传递函数,并在MATLAB/Simulink中搭建串级PID仿真模型,通过对俯仰角、横滚角、偏航角以及Z轴方向的仿真以及对这四个通道的抗干扰仿真实验验证了以串级PID为控制算法的控制系统的快速性、稳定性以及准确性;第四,详细阐述串级PID控制算法的实现方式,采用C语言编写控制系统程序,完成编译后将控制程序下载到控制板,并进行PID参数调试和测试飞行。测试结果表明,论文设计的控制系统能够很好得与其它机体模块配合,实现准确稳定地飞行控制,效果良好,达到系统预期的设计目标。
[Abstract]:With the continuous development of microelectronic technology in recent years, the four-rotor UAV has made rapid progress. Meanwhile, the four-rotor UAV has been widely used in aerial photography, remote sensing monitoring, disaster relief, public security, and so on because of its flexible control and low cost. Fire fighting, anti-terrorism, film camera, environmental monitoring, express delivery and other related areas. Because the four-rotor UAV is a typical nonlinear, strongly coupled, underactuated and multi-input multi-output complex system, the four-rotor UAV control system has become a difficulty in the research of UAV. In this paper, a complete four-rotor UAV control system is designed using cascade PID as the control system deviation correction algorithm. The main work of this paper is divided into four parts. First, the hardware design of the four-rotor UAV control system is completed. The hardware control system is composed of main control module, attitude data acquisition module, motor driving module, communication module and so on. The main controller adopts STM32F407VGT6 singlechip, the remote control command and the motor speed control adopt the PWM input capture and PWM output function of the internal timer of the main controller, and the inertial measuring component MPU6050 and the magnetoresistive sensor AK8975 are used to measure the angular velocity of the aircraft, respectively. Acceleration and magnetoresistive values. In the communication part, the wireless communication module is used to realize the communication between the flight control and the upper computer. Secondly, the IIC communication between the main controller and the attitude sensor is realized. After reading the attitude sensor data, the main controller uses the sliding mean filter and Newton interpolation to smooth the original data of the sensor, and then uses complementary filtering to perform complementary fusion of the data of gyroscope, accelerometer and magnetometer. Finally, the quaternion method is used to calculate the space attitude angle of UAV. Thirdly, according to Newton's second law and the principle of moment balance, the nonlinear dynamic modeling of the control system of four-rotor UAV is carried out. The LPV method is used to linearize the nonlinear system, and the transfer function of each channel of UAV is obtained. The cascade PID simulation model is built in MATLAB/Simulink, and the pitch angle and roll angle are analyzed. The simulation of yaw angle and Z axis direction and the anti-jamming simulation of these four channels verify the speed, stability and accuracy of the control system based on cascade PID control algorithm. The realization of cascade PID control algorithm is described in detail. C language is used to program the control system. After compiling, the control program is downloaded to the control board, and the PID parameters are debugged and tested. The test results show that the control system designed in this paper can work well with other airframe modules to achieve accurate and stable flight control and achieve the desired design goal.
【学位授予单位】：东华大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279;V249.1

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