发布时间 : 星期日 文章四旋翼无人机毕业设计 - 图文更新完毕开始阅读092373ebeefdc8d376ee32e1
渤海大学本科毕业论文（设计）
四旋翼无人机设计与制作
The Manufacture and Design of Quad Rotor Unmanned
Aerial Vehicle
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四旋翼无人机设计与制作
摘 要
四旋翼无人机飞行器因为它的结构简单，而且控制起来也很方便，因此它成为了近几年来发展起来的热门产业。在这里本文详细的介绍了四旋翼飞行器的设计和制作的过程，其中包括了四旋翼无人机飞行器的飞行原理，硬件的介绍和选型，姿态参考算法的推导和实现，系统软件的具体实现。该四旋翼飞行器控制系统以STM32f103zet单片机为核心，根据各个传感器的特点，采用不同的校正方法对各个传感器数据进行校正以及低通数字滤波处理，之后设计了互补滤波器对姿态进行最优估计，实现精确的姿态测量。最后结合GPS控制与姿态控制叠加进行PID控制四旋翼飞行器的四个电机，来达到实现各种飞行动作的目的。在制作四旋翼飞行器的过程中，进行了大量的调试并且与现有优秀算法做对比验证，最终设计出能够稳定飞行的四旋翼无人机飞行器。
关键词：姿态传感器；四元数姿态解算； STM32微型处理器；数据融合；PID
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四旋翼无人机设计与制作
The Manufacture and Design of Quad Rotor Unmanned Aerial
Vehicle
Abstract
Quad-rotor unmanned aerial vehicle aircraft have a simple structure, and it is very easy to control, so it has become popular in recent years. Here article describes in detail the design and the process of making the four-rotor aircraft, including Quad-rotor UAV aircraft flight principle, hardware introduction and selection, implementation and realization of derivation attitude reference algorithm, the system software . The Quad-rotor aircraft control system STM32f103zet microcontroller core, and the advantages and disadvantages based on the accelerometer sensor, a gyro sensor and electronic compass sensors using different correction methods for correcting various sensor data and low-pass digital filter processing, after design complementary filter to estimate the optimal posture, precise attitude measurement. Finally, GPS control and attitude control PID control is superimposed four-rotor aircraft four motors to achieve a variety of flight maneuvers to achieve the purpose. Four-rotor aircraft in the production process, a lot of debugging and do comparison with the existing excellent algorithm validation, the final design to stabilize the Quad-rotor UAV flying aircraft.
Key Words：MEMS Sensor; Quaternion; STM32 Processor; Data Fusion; PID
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四旋翼无人机设计与制作
目 录
摘 要 ................................................................................................................................ I Abstract ................................................................................................................................. II 1 绪论 ................................................................................................................................ 1
1.1 研究背景及意义 .................................................................................................. 1 1.2 国内外四旋翼飞行器的研究现状 ...................................................................... 1
1.2.1国外四旋翼飞行器的研究现状 .................................................................. 1 1.2.2国内四旋翼飞行器的研究现状 .................................................................. 3 1.3 本文研究内容和方法 .......................................................................................... 4 2 四旋翼飞行器工作原理 ................................................................................................. 5
2.1 四旋翼飞行器的飞行原理 .................................................................................. 5 2.2 四旋翼飞行器系统结构 ...................................................................................... 5 3 四旋翼飞行器硬件系统设计 ......................................................................................... 7
3.1 微惯性组合系统传感器组成 .............................................................................. 7
3.1.1 MEMS陀螺仪传感器 .............................................................................. 7 3.1.2 MEMS加速度计传感器 .......................................................................... 7 3.1.3 三轴数字罗盘传感器 ............................................................................... 8 3.2 姿态测量系统传感器选型 .................................................................................. 8 3.3 电源系统设计 .................................................................................................... 10 3.4 其它硬件模块 .................................................................................................... 10
3.4.1 无线通信模块 ......................................................................................... 10 3.4.2 电机和电机驱动模块 ............................................................................. 11 3.4.3 机架和螺旋桨的选型 ............................................................................. 12 3.4.4 遥控控制模块 ......................................................................................... 13
4 四旋翼飞行器姿态参考系统设计 ............................................................................... 15
4.1 姿态参考系统原理 ............................................................................................ 15 4.2 传感器信号处理 ................................................................................................ 16
4.2.1 加速度传感器信号处理 ......................................................................... 16 4.2.2 陀螺仪信号处理 ..................................................................................... 16 4.2.3 电子罗盘信号处理 ................................................................................. 17 4.3 坐标系 ................................................................................................................ 17 4.4 姿态角定义 ........................................................................................................ 18 4.5 四元数姿态解算算法 ........................................................................................ 19 4.6 校准载体航向角 ................................................................................................ 27 5 四旋翼飞行器系统软件设计 ....................................................................................... 29
5.1 系统程序设计 .................................................................................................... 29
5.1.1 姿态参考系统软件设计 ......................................................................... 29 5.1.2 PID控制算法设计 .................................................................................. 30
结论 ..................................................................................................................................... 32 参 考 文 献 ....................................................................................................................... 33
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