基于STM32F4的四旋翼飞行控制系统研究

发布时间：2018-06-08 15:30

本文选题：四旋翼无人飞行器 + 飞行控制系统　；参考：《安徽工业大学》2015年硕士论文

【摘要】：四旋翼无人飞行器(Quadrotor UAV)是一种六自由度垂直起降无人飞行器(Vertical Take-Off and Landing UAV,VTOL UAV),能够完成空中悬停、低速飞行、垂直起降和室内飞行等固定翼飞机无法完成的任务,与传统意义上的直升机相比,又具有结构和控制简单、制造精度要求较低、稳定性好、较弱的陀螺效应等优势。近年来,四旋翼无人飞行器以其诸多优点和在无人侦察、交通管理、森林防火、城市巡逻等领域的广阔应用前景,成为国际上的研究热点。本文在综述四旋翼无人飞行器的研究现状、关键技术与应用前景的基础上,根据四旋翼无人飞行器飞行原理,建立了飞行器数学模型,并针对姿态解算方法和飞行控制算法展开仿真研究,搭建四旋翼飞行器实物平台,最终完成飞行器的稳定悬停和远程操控等研究目标。首先,分析小型四旋翼飞行器的运动方式与工作原理,推导其数学模型。建立飞行器坐标系,结合牛顿-欧拉方程以及旋翼的动静态模型推导出四旋翼飞行器的非线性数学方程,并选取合适的输入输出量以及状态量,运用matlab工具对飞行器在悬停点进行配平和线性化,从而得到输出对输入的传递函数,实现控制模型的简化。其次,根据闭环控制的特点,对飞行器的反馈通道进行设计。结合陀螺仪、加速度传感器和地磁传感器的测量原理,推导出飞行器姿态的求解公式。针对其传感器的误差特点,设计离散扩展卡尔曼滤波器(EKF)对飞行器机体姿态进行最优估计,得到四旋翼飞行器的姿态和航向信息,从而为飞行器系统稳定飞行提供重要的反馈控制参数。再次,针对线性化后的飞行器模型传递函数,对其进行稳定性分析。结合经典控制理论对每一个通道进行校正,设计了串级PID控制器,并搭建matlab/simulink仿真环境对设计好的控制器进行仿真分析,完善所设计的串级PID控制器的参数。最后,搭建四旋翼飞行器平台,根据系统的要求,对其进行软硬件设计。选定STM32F4作为系统的主控制器,结合所用的主控制器完成控制器的软件设计和控制算法的移植,对其进行实际飞行验证和结果分析。
[Abstract]:Quadrotor UAV (Quadrotor UAV) is a six-degree-of-freedom vertical take-off and landing UAV (Vertical Take-Off and Landing UAV VTOL UAV) that can accomplish tasks that cannot be accomplished by fixed-wing aircraft such as hovering, low-speed flight, vertical take-off and landing, and indoor flight. Compared with the traditional helicopter, it has the advantages of simple structure and control, low manufacturing precision, good stability and weak gyro effect. In recent years, the four-rotor unmanned aerial vehicle (UAV) has become an international research hotspot with its many advantages and broad application prospects in the fields of unmanned reconnaissance, traffic management, forest fire prevention, urban patrol and so on. On the basis of summarizing the research status, key technology and application prospect of four-rotor unmanned aerial vehicle (UAV), the mathematical model of Four-rotor UAV is established according to its flight principle. The simulation research on attitude solution and flight control algorithm is carried out, and the physical platform of the four-rotor aircraft is built. Finally, the stable hovering and remote control of the vehicle are completed. Firstly, the motion mode and working principle of a small four-rotor aircraft are analyzed, and its mathematical model is deduced. The aircraft coordinate system is established, and the nonlinear mathematical equations of the four-rotor aircraft are derived by combining Newton-Euler equation and rotor dynamic and static model, and the appropriate input and output quantities and state quantities are selected. The matlab tool is used to equalize and linearize the aircraft at the hovering point, thus the transfer function of the output to the input is obtained, and the control model is simplified. Secondly, according to the characteristics of closed-loop control, the feedback channel of aircraft is designed. Based on the measuring principle of gyroscope, acceleration sensor and geomagnetic sensor, the formula for calculating the attitude of aircraft is derived. According to the error characteristics of the sensor, a discrete extended Kalman filter (EKF) is designed to estimate the airframe attitude and obtain the attitude and heading information of the four-rotor aircraft. Thus, important feedback control parameters can be provided for stable flight of aircraft system. Thirdly, the stability of the linearized vehicle model transfer function is analyzed. Based on the classical control theory, a cascade pid controller is designed, and a matlab/simulink simulation environment is built to simulate and analyze the designed controller to perfect the parameters of the designed cascade pid controller. Finally, the four-rotor aircraft platform is built and the software and hardware are designed according to the requirements of the system. STM32F4 is selected as the main controller of the system. The software design of the controller and the transplant of the control algorithm are completed with the master controller. The actual flight verification and analysis of the results are carried out.
【学位授予单位】：安徽工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.1

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