电动直升机自主飞行控制系统设计与实现

发布时间：2018-06-26 14:20

  本文选题：电动直升机 + 硬件平台　； 参考：《南京信息工程大学》2016年硕士论文

【摘要】：电动直升机具有垂直起降、空中悬停和巡航飞行的能力,并且操作容易,成本低,广泛应用于洪水、地震等紧急情况的处理。本文以设计一种电动直升机自主飞行控制系统为课题,主要研究了飞行控制硬件、软件设计,简单分析了动力学模型及控制器设计。本篇文章的主要内容概括如下：本文首先介绍了无人直升机的背景及意义,在了解国内外研究现状与发展趋势的基础上,针对电动直升机的特点,给出了系统总体的方案设计,并给出了飞行控制系统硬件的总框架。阐述了飞行控制板电路设计,介绍了UBEC、传感器硬件系统、RGB指示灯、OLED_SD模块等电路设计和PCB布局。在介绍了飞行控制系统硬件设计的基础上,讨论了与之相对应的嵌入式软件系统设计。给出了飞行控制系统软件的整体框架；介绍了飞行控制板软件设计,其中对通讯软件、电压检测和固件升级做了具体介绍；阐述了AHRS、GPS模块、磁罗盘模块、RGB指示灯和OLED_SD模块的软件设计。在完成软硬件设计的基础上,主要分析了电动直升机机体动态系统结构；讨论了主旋翼和稳定杆的动力学；对电动直升机的线运动和姿态运动进行了分析；建立了电动直升机的动力学模型,并通过MATLAB中的系统辨识工具箱进行系统辨识；探讨了线性二次积分的控制方法,并完成控制系统的设计。在软硬件和控制器设计完成后,本文首先对飞行控制平台的软硬件的可行性进行实验验证,然后通过无线电小型直升机STGLE搭载本文设计的电动无人直升机控制系统进行室外飞行试验,记录STGLE室外飞行的实验数据,完成了电动直升机的自主飞行。
[Abstract]:Electric helicopter has the ability of vertical take-off and landing, hovering and cruise, easy operation and low cost. It is widely used in flood, earthquake and other emergency situations. In this paper, the design of an autonomous flight control system for electric helicopters is presented. The design of flight control hardware and software is mainly studied. The dynamics model and controller design are simply analyzed. The main contents of this paper are summarized as follows: firstly, the background and significance of unmanned helicopter are introduced in this paper. On the basis of understanding the current research situation and developing trend at home and abroad, the overall scheme design of the system is given according to the characteristics of electric helicopter. The general frame of flight control system hardware is also given. This paper describes the circuit design of flight control board, and introduces the circuit design and PCB layout of UBEC, RGB indicator lamp and Ole DSD module of sensor hardware system. On the basis of introducing the hardware design of flight control system, the corresponding embedded software system design is discussed. The whole frame of flight control system software is given, and the software design of flight control board is introduced, in which the communication software, voltage detection and firmware upgrade are introduced, and the AHRSU GPS module is described. Magnetic compass module RGB indicator lamp and OLEDSD module software design. Based on the design of hardware and software, the dynamic system structure of electric helicopter body is analyzed, the dynamics of main rotor and stabilizer is discussed, the line motion and attitude motion of electric helicopter are analyzed. The dynamic model of electric helicopter is established, and the system identification is carried out by the system identification toolbox in MATLAB, and the control method of linear quadratic integral is discussed, and the design of control system is completed. After the design of software and hardware and controller are finished, the feasibility of software and hardware of flight control platform is verified by experiments in this paper. Then the control system of the electric unmanned helicopter designed in this paper is carried out outdoor flight test by STGLE, and the experimental data of STGLE outdoor flight are recorded, and the autonomous flight of the electric helicopter is completed.
【学位授予单位】：南京信息工程大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V275.1;V249.1
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本文编号：2070661