基于PID算法的四旋翼姿态控制系统与研究

发布时间：2018-10-09 13:43

【摘要】：四旋翼飞行器是一个具有强耦合、不稳定、非线性等特点的复杂控制对象,对其姿态控制的方法包括力学原理、传感器通信、计算机处理以及无线通信等学科。本论文研究的工作重点在于传感器的调试、动力学模型的建立及仿真,WIFI数据通道的建立及基于PID控制算法的设计。本文通过研究四旋翼飞行器结构特点、姿态解算方式及飞行控制技术,设计了以S3C2440的主控芯片为硬件开发平台,在Linux环境下进行软件开发。硬件平台集成了MPU-6000及KS103为惯性测量单元的飞行姿态控制系统。软件设计上以Linux系统作为运行平台,在PC机上搭建交叉编译环境并编写应用层与控制算法层程序。在数据通道方面,以RS232及IIC协议实现了传感器与主控芯片的数据解析并通过TCP下socket通信协议建立了与上位机的数据通道。通过加权法融合当前传感器中加速度和陀螺仪的测量数据,估算出当前的运动姿态。将得出的姿态角度与稳定姿态角做差值,并将该差值作为PID控制器的模糊输入量,通过PID控制算法计算,得到当前角度快速向稳态角度收敛对应的电机调节量,从而改变旋翼转速以使得飞行器向平稳姿态调整。本文对四旋翼飞行器自主飞行控制系统进行了整体方案设计并搭建出软硬件平台,并把重点放在了传感器的调试与算法的设计。分别对俯仰角进行比例、积分和微分三种收敛算法进行说明,并设计出增量式PID软件算法。论文最后对四旋翼俯仰轴姿态进行了建模仿真,测试结果表明本课所研究的关于四旋翼姿态角控制的PID算法是可行的,保证了四旋翼在起飞阶段微小气流扰动下姿态的稳定性。
[Abstract]:Four-rotor aircraft is a complex control object with strong coupling, instability and nonlinearity. The methods of attitude control include mechanics principle, sensor communication, computer processing and wireless communication. The main work of this thesis is the debugging of sensor, the establishment of dynamic model, the establishment of simulation data channel of WiFi and the design of control algorithm based on PID. In this paper, the structure characteristics, attitude calculation method and flight control technology of four-rotor aircraft are studied, and a software development platform based on S3C2440 main control chip is designed under the Linux environment. The hardware platform integrates MPU-6000 and KS103 as the inertial measurement unit of the flight attitude control system. In the software design, the Linux system is used as the running platform, the cross-compiling environment is built on the PC computer, and the application layer and the control algorithm layer are programmed. In the aspect of data channel, the data analysis between sensor and master control chip is realized by RS232 and IIC protocol, and the data channel with host computer is established by socket communication protocol under TCP. The measurement data of acceleration and gyroscope in the current sensor are fused by weighted method, and the current motion attitude is estimated. The difference between the attitude angle obtained and the stable attitude angle is used as the fuzzy input of the PID controller. The motor regulation quantity corresponding to the fast convergence of the current angle to the steady state angle is obtained through the calculation of the PID control algorithm. Thus, the rotation speed of the rotor is changed to make the aircraft adjust to a steady attitude. In this paper, the overall scheme of autonomous flight control system of four-rotor aircraft is designed, and the hardware and software platform is built, and the emphasis is put on the sensor debugging and algorithm design. The three convergent algorithms of pitch angle such as proportion integral and differential are explained respectively and the incremental PID software algorithm is designed. Finally, the four rotor pitch axis attitude is modeled and simulated. The test results show that the PID algorithm for the attitude control of the four rotor is feasible, which ensures the stability of the four rotor attitude under the micro air disturbance in the takeoff stage.
【学位授予单位】：西安科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.1

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