基于DSP的小型无人直升机控制系统设计

发布时间：2019-03-01 14:56

【摘要】：近年来,随着惯性测量单元的微型化以及芯片计算能力的提高,小型无人直升机成为全球各大高校和学者研究的热点。它不但具有固定翼无人机的优点,还具有垂直起降、固定位悬停、侧向飞行以及原地转向等优点,不论在军事上还是民用上都有着不可替代的作用。而控制系统则是无人直升机完成各项任务的核心,因此本课题针对控制系统进行理论研究,内容主要分为主控模块硬件设计、软件设计以及控制算法这三大部分。在控制系统硬件设计方面,首先本课题选用具有高速时钟和丰富外围接口的DSP TMS320F2812作为核心处理器;然后结合姿态测量仪、超声波传感器、GPS模块、无线通信模块以及舵机模块构成小型无人直升机的硬件实验平台,并阐述各硬件模块的工作原理和通信方式;最后用Altium Designer软件进行F2812的电路设计并搭建该硬件平台。在控制系统软件设计方面,以硬件平台为基础,利用CCS6.0完成相应的软件设计。为了保证系统的实时性,设计采用中断的方式接收传感器及GPS采集的数据,并通过PWM接口输出信号,控制舵机舵面的偏转。在控制算法设计方面,为了保证控制系统高精度的设计要求,设计了一种基于Quasi-Min-Max的模型预测控制(MPC)器,并详细介绍了该控制器的基本结构、设计原理和控制规则等,然后通过求解LMI凸优化获得该控制器,最后代入小型无人直升机LPV模型,仿真结果表明,该控制算法可以很好的控制直升机的姿态,满足系统要求。研究表明,本课题所设计的方案能够完成基本的功能需求,而且具有一定的实用性,为后续的无人直升机控制系统的研发奠定了基础。
[Abstract]:In recent years, with the miniaturization of the inertial measurement unit and the increase of the computational power of the chip, the small unmanned helicopter has become the hot spot of the research of major universities and scholars in the world. It not only has the advantages of fixed-wing unmanned aerial vehicle, but also has the advantages of vertical take-off and landing, fixed position hover, lateral flight and in-situ steering. The control system is the core of the unmanned helicopter to complete the tasks, so the project is mainly divided into the hardware design of the main control module, the software design and the control algorithm. in that aspect of the hardware design of the control system, firstly, a DSP TMS320F2812 with a high-speed clock and a rich peripheral interface is used as a core processor, and then a posture measuring instrument, an ultrasonic sensor and a GPS module are combined, The wireless communication module and the steering engine module form a hardware experimental platform of a small unmanned helicopter, and the working principle and the communication mode of each hardware module are described; finally, the circuit design of the F2812 is carried out by using the Altium Designer software and the hardware platform is built. In the software design of the control system, the hardware platform is used as the foundation, and the corresponding software design is completed by using the CCS6.0. In order to ensure the real-time performance of the system, the data collected by the sensor and the GPS are received in an interrupted manner, and the signal is output through the PWM interface to control the deflection of the rudder surface of the steering engine. In order to ensure the high-precision design of control system, a model predictive control (MPC) based on Quasi-Min-Max is designed, and the basic structure, design principle and control rule of the controller are introduced in detail. Then the controller is obtained by solving the LMI convex optimization, and finally the small unmanned helicopter LPV model is substituted, and the simulation results show that the control algorithm can well control the attitude of the helicopter and meet the requirements of the system. The research shows that the scheme designed by the project can complete the basic functional requirements and has certain practicability, which lays the foundation for the research and development of the subsequent unmanned helicopter control system.
【学位授予单位】：黑龙江大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V275.1;V249.1

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