电力巡检多旋翼无人机硬件电路设计与实现

发布时间：2018-07-21 22:18

【摘要】：近年来,多旋翼无人机受到了人们极大关注,无论是在学校还是在网络中都能够听到、看到有关它的消息,可以看出无人机已经悄无声息的走进人们的生活。实际上,这一现象的发生主要归因于人们对多旋翼无人机的需求和兴趣都达到了前所未有的高度。这自然而然的促进了多旋翼无人机突飞猛进的发展,它受到人们青睐的主要因素包括它的小体积、轻便灵活性;即是说你可以在非常狭小的地方让它起飞、静止、降落及各种复杂的飞行动作,如此一来人们就可以随时携带并使用它进行空中拍摄。四旋翼的发展已经势如破竹,很有可能成为如智能手机那般普及到大众当中。四旋翼采用固定机架、结构简单牢固,其动力十足能够完成很多高难度的飞行动作并能用于小负载运输服务。相比固定翼飞行器它能够迅速调整飞行方向、高度且更加灵活多变、环境适应性强等特点。它简单的结构设计大大的降低了机体本身的飞行重量,这使得它能够承载更大的负载提高了其有效载荷。随着人们对其认识的提高,相信有更多的场合会需要使用到它;它的诸多优势必然会对今后人们生活方式的带来较大的改变,这也是成为越来越多的研究人员的加入的重要原因。由于电力部门要求无人机最低巡线时间为三十分钟,故本设计中选用22000m Ah超大容量锂电池为旋翼机供电保证其续航时间。巡检过程中无人机需携带搭载云台的摄像机质量约为1.3kg来完成巡线任务,所以本设计最低负载为1.3kg,最大负载为1.5kg,无人机空载时飞行重量为7.4kg。本设计主要通过使用两级PID控制方式,第一级(导航级)使用STM32F103C8T6芯片来实现四旋翼的导航,第二级(控制级)通过使用STM32F427ZGT6芯片来实现数据采集、存储及运算。其中第二级控制器通过外接一些运动姿态传感器模块、空压计、陀螺仪、三轴磁力计模块、无线通信模块、GPS导航模块等,再加上舵机、机架等,设计并制作一个小型的四轴飞行器。通过在无人机上携带摄像头来完成对架空高压线的巡检工作。
[Abstract]:In recent years, people pay great attention to the multi-rotor UAV, whether in school or in the network can hear, see the news about it, we can see that the UAV has entered people's life quietly. In fact, this phenomenon is mainly due to the demand for and interest in multi-rotor UAVs have reached unprecedented levels. This naturally contributed to the rapid development of the multi-rotor UAV, and the main factors that are popular among people include its small size, lightweight flexibility; that is, you can let it take off in a very small place and stay still. Landing and complex flight movements, so that people can carry it and use it for aerial photography at any time. The development of the four-rotors is already in the ascendant and is likely to become as popular as a smartphone. The four rotor uses a fixed frame, simple and firm structure, its full power can complete a lot of difficult flight movements and can be used for small load transport services. Compared with the fixed-wing aircraft, it can adjust the flying direction quickly, the altitude is more flexible and changeable, the environment adaptability is strong and so on. Its simple structural design greatly reduces the flight weight of the body itself, which enables it to carry a larger load and increase its payload. As people become more aware of it, it is believed that there will be more occasions to use it; its many advantages will inevitably bring about great changes in people's way of life in the future. This is also an important reason why more and more researchers are joining us. Since the power department requires the minimum inspection time of UAV to be 30 minutes, the 22 000 mAh super capacity lithium battery is chosen to supply power to the rotorcraft to ensure its life. During the inspection, the UAV needs to carry the camera with the cloud head about 1.3kg to complete the inspection task, so the minimum load is 1.3 kg, the maximum load is 1.5 kg, and the flying weight is 7.4 kg when the UAV is no load. The first stage (navigation level) uses STM32F103C8T6 chip to realize the navigation of four rotors, the second stage (control level) realizes data acquisition, storage and operation by using STM32F427ZGT6 chip. The second stage controller is connected with some motion attitude sensor module, air pressure meter, gyroscope, three-axis magnetometer module, wireless communication module, GPS navigation module, and so on. Design and build a small four-axis aircraft. Patrol the overhead line by carrying a camera on the drone.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TM75;V279

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