小型无人机控制系统设计及航迹规划研究

发布时间：2018-08-28 17:33

【摘要】：无人机具有灵活轻便、成本低廉等优点,无论在军事还是民用领域都得到了广泛应用。飞行环境的日趋复杂和飞行任务的多样化,对自主飞行的无人机都提出了新的要求和挑战。为此,本文研究了无人机的航迹规划、姿态测量方法及飞行控制等相关技术。主要工作如下:首先,对无人机及其相关技术的发展和现状进行了综述,包括无人机的航迹规划、基于MEMS的姿态测量和飞行控制系统。其次,研究了基于蚁群算法的航迹规划方法。在无人机航迹规划问题中,采用栅格法表示航迹规划空间,构建了优化目标函数,应用改进蚁群算法对其进行了求解,并利用MATLAB进行了仿真验证。然后,采用互补滤波实现了基于MEMS的姿态测量方法。研究了姿态的表示方法、四元数到欧拉角的转换及其全角度扩展;分别利用角速度陀螺仪和利用加速度计、磁强计优化方法进行了姿态求解,对两种方法进行了融合,得到互补滤波算法,并对其进行了编程实现和实物测量试验。最后,进行了飞行控制系统的设计和仿真实验研究。根据飞行控制系统的需求,设计了飞行控制系统总体方案,包括硬件组成、软件系统的设计;建立了无人机的数学模型,研究了基于PID的飞行控制方法,并进行了仿真和部分实验验证。
[Abstract]:Unmanned aerial vehicles (UAVs) have been widely used in both military and civil fields due to their advantages of flexibility, portability and low cost. With the increasing complexity of flight environment and the diversification of flight missions, new requirements and challenges are put forward for autonomous unmanned aerial vehicles (UAVs). Therefore, this paper studies the flight path planning, attitude determination and flight control of UAV. The main work is as follows: firstly, the development and current situation of UAV and its related technologies are reviewed, including the trajectory planning of UAV, attitude determination and flight control system based on MEMS. Secondly, the track planning method based on ant colony algorithm is studied. In the UAV trajectory planning problem, the grid method is used to represent the track planning space, and the optimization objective function is constructed. The improved ant colony algorithm is applied to solve the problem, and the simulation results are verified by MATLAB. Then, the attitude determination method based on MEMS is realized by complementary filtering. The expression method of attitude, the conversion from quaternion to Euler angle and its full angle expansion are studied, and the attitude solution is carried out by using angular velocity gyroscope, accelerometer and magnetometer optimization method, respectively, and the two methods are fused. The complementary filtering algorithm is obtained, and it is programmed and tested. Finally, the flight control system is designed and simulated. According to the requirements of flight control system, the overall scheme of flight control system is designed, including the design of hardware and software system, the mathematical model of UAV is established, and the flight control method based on PID is studied. Simulation and some experiments are carried out.
【学位授予单位】：北京理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279

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