基于Android系统的微型四旋翼飞行器视觉控制

发布时间：2018-05-15 17:15

本文选题：四旋翼 + 微型飞行器　；参考：《河南科技大学》2015年硕士论文

【摘要】：随着近年来与微型飞行器相关的软硬件技术不断进步,以及在各国低空领域不断开放的政策影响下,微型四旋翼飞行器以其独特的垂直起降和悬停特性不断出现在军事作战、工农业生产和各类商业飞行活动等应用中,成为低空飞行器研究领域备受关注的焦点。鉴于微型四旋翼飞行器在飞行控制技术与实际应用领域均具有较高的研究价值,本文对微型四旋翼飞行器的飞行控制进行了相关的研究。在实际应用过程中微型四旋翼飞行器往往与视觉图像设备相结合,因此具备视觉图像处理功能的微型四旋翼飞行器受到科研人员的重点关注。本课题围绕飞行器控制系统建立和基于Android系统的视觉控制程序这两个方面展开研究,以实现飞行器寻迹飞行和定点悬停为最终目标。首先通过对四旋翼飞行器动力学和运动学方程分析,建立四旋翼飞行器的数学模型,然后使用自适应反演滑模控制算法设计飞行控制器,并在MATLAB软件中设计对比仿真实验,验证了所设计自适应反演滑模控制算法在四旋翼飞行器控制中有很好的鲁棒性和抗干扰性。接着通过选择合适的元器件,自行设计硬件电路,设计软件系统控制流程,编写控制程序,完成了微型四旋翼飞行器的飞行控制系统设计,最后通过围绕Android系统程序设计开发和视觉控制中图像处理算法进行研究,完成了对Android系统控制程序的开发和测试以及图像处理程序对轨迹图像信息的处理测试,为进一步实现飞行器以视觉控制方式寻迹飞行和定点悬停奠定了基础。本课题中将当前热门的视觉控制应用于微型四旋翼飞行器控制,为四旋翼飞行器的控制提供了新的方式,同时将该控制方式与Android智能移动设备相结合,对四微型旋翼飞行器的的实际应用推广有积极的作用。
[Abstract]:With the development of software and hardware technology related to micro air vehicle in recent years, and under the influence of the policy of opening up in low altitude field, the micro four rotors have appeared in military operations with their unique vertical take-off and landing and hovering characteristics. Industrial and agricultural production and various commercial flight activities have become the focus of attention in the research field of low-altitude aircraft. In view of the high research value of micro four rotor aircraft in flight control technology and practical application, this paper studies the flight control of micro four rotor wing aircraft. In the process of practical application, the micro four-rotor aircraft is often combined with the visual image equipment, so the micro-four-rotor aircraft with visual image processing function has attracted the attention of researchers. This paper focuses on the establishment of the aircraft control system and the visual control program based on the Android system in order to achieve the final goal of tracking and hovering of the aircraft. By analyzing the dynamics and kinematics equations of the four-rotor aircraft, the mathematical model of the four-rotor aircraft is established, then the flight controller is designed by using the adaptive inverse sliding mode control algorithm, and the contrast simulation experiment is designed in MATLAB software. It is verified that the designed adaptive inverse sliding mode control algorithm is robust and anti-jamming in the control of four-rotor aircraft. Then, by selecting the appropriate components, designing the hardware circuit, designing the control flow of the software system and compiling the control program, the flight control system design of the micro four-rotor aircraft is completed. Finally, the development and test of the Android system control program and the image processing test of the track image information are completed through the research on the design and development of the Android system program and the image processing algorithm in the visual control. It lays a foundation for further realization of tracking and hovering of aircraft by visual control. In this paper, the current popular visual control is applied to the control of the micro four-rotor aircraft, which provides a new way for the control of the four-rotor aircraft. At the same time, the control mode is combined with the Android intelligent mobile device. It has a positive effect on the practical application of four micro rotors.
【学位授予单位】：河南科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.1;TP316

【共引文献】