一种便携式飞行器的研究

发布时间：2019-01-06 13:25

【摘要】：为了使生活更加方便和美好,本文基于嵌入式实时操作系统μcos-III在以ARM Cortex M3为核心的微控制器STM32上展开了对便携式飞行器的初探。本文研究的便携式飞行器采用四旋翼结构。首先,对它的飞行原理和飞行中的姿态变化进行了详细地分析。然后,对它在飞行过程中的受力情况进行了探讨,并建立了动力学模型。接着,根据常用的四旋翼飞行器的结构设计了便携式飞行器的机械结构,根据惯性导航原理设计了控制系统的电路。该电路主要包括以ARM Cortex M3为核心的STM32控制器模块,以加速度角速度感知模块MPU-6050、磁航向感知模块HMC5883L、大气压感知模块MS5611构成的感知模块,以及电源模块、通信模块等。结合四元数法和串级PID控制设计了便携式飞行器姿态解算和控制算法,并利用该算法进行了控制系统的软件开发。其解算和控制过程为:利用MPU-6050感知当前状态下的加速度和角速度,利用HMC5883L感知到的当前地球磁场,经过滤波处理后,将加速度数据归一化处理,同时获取四元数的重力分量,将两者的偏差做PI调节补偿角速度数据,利用四元数微分方程以角速度的数据去更新四元数,通过四元数与欧拉角的关系解算出姿态角,再利用地球磁场数据去修正姿态角,用期望的姿态角与当前的姿态角的偏差进行串级PID控制,将该输出转换成PWM形式控制四个电机的转速来控制便携式飞行器达到期望的姿态。最后,在上位机PC上开发出了系统仿真与系统参数调试整定模块,在Simulink上构建了便携式飞行器控制系统的仿真模型,仿真实验验证了控制算法的合理性,在Visual Studio集成环境中用C#语言开发出了系统参数调试整定模块,整定后的参数借助通信接口更新至控制系统,最终得到了比较好的控制效果。
[Abstract]:In order to make life more convenient and beautiful, this paper based on the embedded real-time operating system 渭 cos-III in the ARM Cortex M3 microcontroller on the STM32 began to explore the portable aircraft. In this paper, a four-rotor structure is used for the portable aircraft. Firstly, the flight principle and attitude change in flight are analyzed in detail. Then, the dynamic model is established. Then, the mechanical structure of the portable vehicle is designed according to the structure of the four-rotor aircraft, and the circuit of the control system is designed according to the inertial navigation principle. The circuit mainly includes STM32 controller module with ARM Cortex M3 as the core, MPU-6050, magnetic heading sensing module HMC5883L, atmospheric pressure sensing module MS5611 with acceleration angular velocity sensing module, power supply module, communication module and so on. Combined with quaternion method and cascade PID control, the attitude calculation and control algorithm of portable vehicle is designed, and the software of the control system is developed by using the algorithm. The calculation and control process is as follows: the acceleration and angular velocity in the current state are sensed by MPU-6050, and the current earth magnetic field perceived by HMC5883L is used to normalize the acceleration data after filtering and processing. At the same time, the gravity component of quaternion is obtained, and the deviation of the two is used to adjust and compensate the angular velocity data by PI. The quaternion is updated with the angular velocity data by using the quaternion differential equation, and the attitude angle is calculated by solving the relationship between quaternion and Euler angle. Then the attitude angle is corrected by the geomagnetic field data, and the error between the desired attitude angle and the current attitude angle is used for cascade PID control. The output is converted into PWM to control the rotation speed of the four motors to control the portable vehicle to achieve the desired attitude. Finally, the system simulation and system parameter tuning module are developed on the host computer PC, and the simulation model of the portable vehicle control system is constructed on the Simulink. The simulation experiment verifies the rationality of the control algorithm. The debugging and setting module of system parameters is developed by C # language in Visual Studio integrated environment. The parameters after setting are updated to the control system by means of communication interface, and the better control effect is obtained.
【学位授予单位】：西华大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V249;V279

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