2013年四旋翼飞行器论文解读.doc

四旋翼自主飞行器 摘要：四旋翼飞行器是一种结构新颖、性能优越的垂直起降飞行器，具有操作灵活、带负载能力强等特点，具有重要的军事和民用价值，以及研究价值。在深入了解四旋翼飞行器的研究现状、关键技术与应用前景的基础之上，根据四旋翼飞行器飞行原理，建立系统动力学模型，确定了系统组成和总体设计方案。首先根据设计方案采购了简单飞行器机体模型，选择合适的直流无刷电机作为系统动力装置，设计线性度良好、功率满足一定要求的无刷电机驱动器，以满足四旋翼飞行器带载飞行需要。选取了功能强大且容易开发的微处理器、传感器和相关电子元器件满足系统需要，并做了大量的系统软硬件调试工作，最终完成了整体设计。飞行器运动姿态测量单元主要由惯性测量单元(IMU)和三轴磁传感器组成，根据其传感器的性能指标，构建数学模型，从而得到载体准确的航向信息和相应姿势，为飞行器系统稳定飞行提供重要的保障。 四旋翼无人飞行器要实现稳定飞行是以平衡控制为前提的，由于该飞行器具有六自由度而只有四个控制量的欠驱动的控制系统，通过调节四个电机转速实现飞行器平衡稳定飞行，因此平衡控制是四旋翼飞行器运动中的关键。根据系统动力学模型设计控制算法，设计四旋翼飞行器控制系统控制规律，主要包括两个控制回路：姿态控制回路、位置控制回路。在仿真软件平台上，通过仿真验证后将算法移植到处理器中，进行控制算法验证及实验研究，优化飞行控制算法参数。最后，为了满足四旋翼无人飞行器的稳定飞行控制的要求，设计实时性高的控制系统软件程序，进行相关实验调试工作。最终设计出能够实现一键飞行、高效的四旋翼自主飞行器。 R5F100LEA PWM 陀螺仪 超声传感器 Abstract: Four rotor aircraft is a kind of novel structure, superior performance of vertical take-off and landing aircraft, has many characteristics, such as flexible operation and load ability, has the important value of military and civilian, and research value. In understanding the research status of four rotor aircraft, the key technology and the application prospect, according to the principle of four rotor aircraft flight, establish a system dynamics model, the system composition and the overall design scheme is determined. First according to the design plan to purchase the simple vehicle body model, select the appropriate brushless dc motor as the power unit system, design good linearity and power meet certain requirements of brushless motor drive, to meet the needs of the four rotor aircraft flying on load. Selected the powerful and easy development of microprocessors, sensors and related electronic components meet the needs of the system, and made a lot of system hardware and software debugging, finally completed the overall design. Aircraft motion measurement unit is mainly composed of inertial measurement unit (IMU) and a three-axis magnetic sensor, according to the sensor performance index, build the mathematical model of the carrier to get the exact cour