基于CC3200的微小型四轴无人机设计与实现
发布时间：2018-12-11 10:27
【摘要】：微小型四轴无人机因其机动灵活、机械结构简单、性价比较高等特点,逐渐成为无人机领域中的研究热点。在对微小型四轴无人机进行设计时,一个稳定的嵌入式飞行控制系统是实现其稳定飞行的重要因素。纵观目前大部分的开源飞行控制系统,其硬件设计大多采用的是主控MCU外接独立无线通信模块的模式,这样的设计虽然提升了拓展性,但却不利于飞行控制板的小型化与微型化,两者间不稳定的连接方式也降低了系统的鲁棒性;同时其系统的整体飞行稳定性不高,一般不具备高度控制功能或是定高精度不足以满足一些特定任务的需求。针对这些问题,本文提出一种以CC3200这款集成Wi-Fi无线通信功能的单芯片微控制器作为主控芯片,采用改进的滤波融合算法进行传感器数据融合,利用超声波传感器实现高度控制的飞行控制系统方案。此方案提高了飞行控制板的集成度与稳定性,减小了飞行控制板的体积,同时提高了四轴无人机的飞行稳定性并实现了较高精度的定高悬停功能。本文的主要研究及设计内容如下:1.在了解微小型四轴无人机组成结构的基础上,对其飞行控制原理及相关算法进行了深入分析,并根据实际应用中存在的问题对现有算法进行了改进,提出了基于互补滤波及Mahony滤波的传感器数据滤波融合方法;接着研究了 PID控制算法在微小型四轴无人机飞行姿态控制中的应用,完成了相应控制系统的设计。2.以CC3200为控制核心,设计了微小型四轴无人机的硬件系统。内容包括硬件总体框架设计、飞行控制板硬件电路的设计及其他硬件部件的选型。3.根据系统需求,设计了此微小型四轴无人机的软件系统,完成了飞行控制板底层驱动构件及功能软件、PC端调试软件及手机端Android遥控App软件的设计。4.在完成硬件电路焊接测试、整机组装及控制算法的参数调试后,进行了整机实地飞行对比测试,给出测试数据分析及测试结论,并对整机测试中出现的典型问题及解决方案进行了阐述。飞行测试结果表明所设计的基于CC3200的微小型四轴无人机已能够实现受控的稳定飞行及定高悬停功能,可作为实验平台进行后续进一步的研究。
[Abstract]:Because of its flexible maneuverability, simple mechanical structure and high performance to price ratio, micro four axis UAV has gradually become a research hotspot in the field of unmanned aerial vehicle (UAV). A stable embedded flight control system is an important factor in the design of micro four axis UAV. Throughout the majority of open source flight control systems, most of its hardware design is the main control MCU external independent wireless communication module mode, although such a design improved the expansibility, However, it is not conducive to the miniaturization and miniaturization of the flight control board, and the unstable connection between the two reduces the robustness of the system. At the same time, the overall flight stability of the system is not high, generally it does not have the function of altitude control or the accuracy of height determination is not enough to meet the needs of some specific tasks. In order to solve these problems, this paper presents an improved filter fusion algorithm for sensor data fusion based on CC3200, a single-chip microcontroller integrated with Wi-Fi wireless communication function as the main control chip. The flight control system of altitude control is realized by ultrasonic sensor. This scheme improves the integration and stability of the flight control board, reduces the volume of the flight control board, and improves the flight stability of the four-axis UAV and realizes the high altitude hovering function with high precision. The main research and design contents are as follows: 1. On the basis of understanding the structure of micro four-axis UAV, the flight control principle and related algorithms are deeply analyzed, and the existing algorithms are improved according to the existing problems in practical application. A fusion method of sensor data filtering based on complementary filter and Mahony filter is proposed. Then, the application of PID control algorithm in the flight attitude control of micro four-axis UAV is studied, and the corresponding control system is designed. 2. Taking CC3200 as the control core, the hardware system of micro four axis UAV is designed. The contents include the design of the overall hardware frame, the design of the hardware circuit of the flight control board and the selection of other hardware components. 3. According to the requirement of the system, the software system of the micro four-axis UAV is designed. The bottom driving component and function software of the flight control board, the debugging software of the PC terminal and the Android remote control App software of the mobile phone are designed. 4. After completing the hardware circuit welding test, the whole machine assembly and the parameter debugging of the control algorithm, the field flight contrast test of the whole machine is carried out, and the analysis of the test data and the test conclusion are given. The typical problems and solutions in the testing of the whole machine are also described. The flight test results show that the designed micro-four-axis UAV based on CC3200 has been able to realize the controlled stable flight and hovering at fixed altitude, and can be used as an experimental platform for further research.
【学位授予单位】：苏州大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279
[Abstract]:Because of its flexible maneuverability, simple mechanical structure and high performance to price ratio, micro four axis UAV has gradually become a research hotspot in the field of unmanned aerial vehicle (UAV). A stable embedded flight control system is an important factor in the design of micro four axis UAV. Throughout the majority of open source flight control systems, most of its hardware design is the main control MCU external independent wireless communication module mode, although such a design improved the expansibility, However, it is not conducive to the miniaturization and miniaturization of the flight control board, and the unstable connection between the two reduces the robustness of the system. At the same time, the overall flight stability of the system is not high, generally it does not have the function of altitude control or the accuracy of height determination is not enough to meet the needs of some specific tasks. In order to solve these problems, this paper presents an improved filter fusion algorithm for sensor data fusion based on CC3200, a single-chip microcontroller integrated with Wi-Fi wireless communication function as the main control chip. The flight control system of altitude control is realized by ultrasonic sensor. This scheme improves the integration and stability of the flight control board, reduces the volume of the flight control board, and improves the flight stability of the four-axis UAV and realizes the high altitude hovering function with high precision. The main research and design contents are as follows: 1. On the basis of understanding the structure of micro four-axis UAV, the flight control principle and related algorithms are deeply analyzed, and the existing algorithms are improved according to the existing problems in practical application. A fusion method of sensor data filtering based on complementary filter and Mahony filter is proposed. Then, the application of PID control algorithm in the flight attitude control of micro four-axis UAV is studied, and the corresponding control system is designed. 2. Taking CC3200 as the control core, the hardware system of micro four axis UAV is designed. The contents include the design of the overall hardware frame, the design of the hardware circuit of the flight control board and the selection of other hardware components. 3. According to the requirement of the system, the software system of the micro four-axis UAV is designed. The bottom driving component and function software of the flight control board, the debugging software of the PC terminal and the Android remote control App software of the mobile phone are designed. 4. After completing the hardware circuit welding test, the whole machine assembly and the parameter debugging of the control algorithm, the field flight contrast test of the whole machine is carried out, and the analysis of the test data and the test conclusion are given. The typical problems and solutions in the testing of the whole machine are also described. The flight test results show that the designed micro-four-axis UAV based on CC3200 has been able to realize the controlled stable flight and hovering at fixed altitude, and can be used as an experimental platform for further research.
【学位授予单位】：苏州大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279
【参考文献】
相关期刊论文 前10条
1 周t，
本文编号：2372378
本文链接：https://www.wllwen.com/kejilunwen/hangkongsky/2372378.html
