四旋翼无人机驱动器闭环对姿态稳定性影响的研究

发布时间：2019-05-14 00:23

【摘要】：四旋翼无人机是一种靠四个独立直流无刷电机带动螺旋桨转动的飞行器,通过改变转速来改变它的运动方式,为了解决飞行时的姿态稳定性问题,在设计四旋翼PID控制器大闭环的环境下引入驱动器PI控制器闭环来提高其稳定性因素,通过matlab/simulink对其建立线性与非线性的四旋翼模型并仿真,来观察四旋翼的响应曲线,设置相同的PID参数对比在有驱动器闭环和没有驱动器闭环的姿态响应,并分析驱动器闭环给系统所带来的影响。四旋翼硬件部分通过姿态传感器姿态融合算法测量的姿态数据,经过以STM32为主芯片的微控制器的PID控制算法,输出四个电机的控制信号,来达到改变电机转速的目的,在电机与电调控制一块,引入速度传感器测量电机转速并将数据传回给以STM32为主芯片的电调电路,以此来建立控制策略以减少电机的响应时间。
[Abstract]:Four-rotor UAV is a kind of aircraft which relies on four independent DC brushless motors to drive the propeller to rotate. It changes its motion mode by changing the rotating speed. In order to solve the problem of attitude stability in flight, In the environment of designing the large closed loop of the four rotor PID controller, the closed loop of the driver PI controller is introduced to improve its stability. The linear and nonlinear four rotor models are established and simulated by matlab/simulink to observe the response curve of the four rotor. Set the same PID parameters to compare the attitude response between the closed loop of the driver and the closed loop of the driver, and analyze the influence of the closed loop of the driver on the system. The four rotor hardware part outputs the control signals of four motors through the attitude data measured by attitude sensor attitude fusion algorithm and the PID control algorithm of microcontroller based on STM32 to achieve the purpose of changing the speed of the motor. In the motor and electric control block, the speed sensor is introduced to measure the motor speed and send the data back to the electric tuning circuit based on STM32, so as to establish the control strategy to reduce the response time of the motor.
【学位授予单位】：宁夏大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279

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