四旋翼飞行器及远程监控平台软件设计研究
发布时间：2018-10-10 17:43
【摘要】：四旋翼无人飞行器(UAV)因其架构简单、操纵性佳、制造成本低、稳定性好、较弱的陀螺效应以及良好的空间操作灵活性等特点成为了目前的研究热点；同时又由于其多变量、非线性、强耦合、欠驱动的特性,对控制模型以及参数的设定有非常严格的要求。课题希望研究设计一套能在四旋翼飞行器飞行过程中进行无线通讯和数据分析的远程通讯系统,实现操作者对四旋翼飞行器的地面遥控、参数调整、数据分析等功能,以达到远程实时监控的目的。 研究中选用基于ARM Cortex-M内核的STM32芯片作为飞行器和远程操作平台的主控MCU,研发了相应通讯软件模块,针对捷联惯导模型、空间旋转四元数和PID电机控制模型特点进行研究,编写相关功能程序,实现了四旋翼飞行器飞行控制功能。同时研究制定了飞行器与地面监控平台之间的无线通讯协议,根据协议进行对应的编码与解码操作,实现了两者之间的无线实时通讯。 通过在监控平台上设计相关监控界面,成功实现了试验平台实时监控、数据存档、参数整定等功能；搭建的μC/OS一II操作系统保证了地面站开发模块具有良好的可扩展性,能在后续开发中根据新的需求加入相关功能。 试验结果与仿真数据表明,研究的四旋翼飞行器及监控平台软件模块是有效的。试验运行可靠,开发的代码算法简洁,可以为该同类研究开发提供技术支持。
[Abstract]:Because of its simple structure, good maneuverability, low manufacturing cost, good stability, weak gyroscope effect and good space operation flexibility, (UAV) has become a hot research topic at present. Nonlinear, strongly coupled and underactuated characteristics require very strict control models and parameters. The subject hopes to study and design a remote communication system that can carry out wireless communication and data analysis during the flight of a four-rotor aircraft, and realize the functions of ground remote control, parameter adjustment, data analysis and so on. In order to achieve the purpose of remote real-time monitoring. In the research, the STM32 chip based on ARM Cortex-M kernel is selected as the main control MCU, of aircraft and remote operation platform. The corresponding communication software module is developed. The characteristics of strapdown inertial navigation model, space rotation quaternion and PID motor control model are studied. The related function program is written to realize the flight control function of the four-rotor aircraft. At the same time, the wireless communication protocol between the aircraft and the ground monitoring platform is developed. The corresponding coding and decoding operations are carried out according to the protocol, and the wireless real-time communication between the two is realized. The function of real-time monitoring, data archiving and parameter setting of the test platform is successfully realized by designing the relevant monitoring interface on the monitoring platform. The 渭 C/OS-II operating system is built to ensure the good expansibility of the ground station development module. Be able to add relevant functions according to new requirements in subsequent development. The experimental results and simulation data show that the software modules of the four-rotor aircraft and the monitoring platform are effective. The test runs reliably and the developed code algorithm is simple, which can provide technical support for the similar research and development.
【学位授予单位】：华东理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V279;V249
本文编号：2262705
[Abstract]:Because of its simple structure, good maneuverability, low manufacturing cost, good stability, weak gyroscope effect and good space operation flexibility, (UAV) has become a hot research topic at present. Nonlinear, strongly coupled and underactuated characteristics require very strict control models and parameters. The subject hopes to study and design a remote communication system that can carry out wireless communication and data analysis during the flight of a four-rotor aircraft, and realize the functions of ground remote control, parameter adjustment, data analysis and so on. In order to achieve the purpose of remote real-time monitoring. In the research, the STM32 chip based on ARM Cortex-M kernel is selected as the main control MCU, of aircraft and remote operation platform. The corresponding communication software module is developed. The characteristics of strapdown inertial navigation model, space rotation quaternion and PID motor control model are studied. The related function program is written to realize the flight control function of the four-rotor aircraft. At the same time, the wireless communication protocol between the aircraft and the ground monitoring platform is developed. The corresponding coding and decoding operations are carried out according to the protocol, and the wireless real-time communication between the two is realized. The function of real-time monitoring, data archiving and parameter setting of the test platform is successfully realized by designing the relevant monitoring interface on the monitoring platform. The 渭 C/OS-II operating system is built to ensure the good expansibility of the ground station development module. Be able to add relevant functions according to new requirements in subsequent development. The experimental results and simulation data show that the software modules of the four-rotor aircraft and the monitoring platform are effective. The test runs reliably and the developed code algorithm is simple, which can provide technical support for the similar research and development.
【学位授予单位】：华东理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V279;V249
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