无线遥控的四轴电机驱动模块的设计.docx

 PAGE \* MERGEFORMAT - 6 - 普通本科毕业设计（论文）说明书 课题名称 无线遥控的四轴电机驱动模块的设计 学 院 电气与信息工程学院 专 业 班 级 学 号 姓 名 指导教师 2016年 5月 17日 摘 要 四轴飞行器是成本比较低的遥控控制飞行对象。和其他的形式的飞行机器对比，四旋翼飞行器软件复杂（尤其是算法），而硬件层面简单精细。本文介绍一个通过无线遥控方式，控制被控端的四轴电机完成正反转及调速（被控端具有初步的自身姿态调整功能）控制方案的设计。文中重点介绍了硬件系统的工作原理和软件算法原理，主要包括遥控模块、飞控控制硬件模块组成和飞行姿态解算几个内容。遥控模块采用2.4GHz无线通信技术，飞控模块采用嵌入式系统结合陀螺仪及加速度传感器构成，完成姿态解算和飞行控制功能。姿态解算采用基于四元数的姿态解算互补滤波算法，通过读取传感器的数据，把这些数据解算成飞行器的姿态，并用四元数和欧拉角分别表示出来。最后通过飞行器PID参数调试让飞控达到理想的状态。 关键词： 遥控； 无线通信； 四轴飞行器； 控制； 姿态 The design of Quadcopter motor drive module by wireless remote control Cheng-wen Huang Abstract Quadcopter is a low cost of the remote control flight objects relatively. Compare with other forms of flight machine, quadcopter is complex (especially algorithm) on software, and the hardware level is simple and exquisite. This thesis introduces a design of quadcopter motor which is controlled by a wireless remote control system, the system can change quadcopter motor speed and reverse. This thesis focuses on the system hardware working principle and the software algorithm, including remote control module, flight control hardware modules and the flight attitude control solution. Remote control module uses 2.4GHz wireless communication technology, and flight control module uses embedded system combines gyroscopes and accelerometers, accomplish the attitude calculation and the flight control functions. Attitude solution uses the attitude estimation based on quaternion complementary filter for the quadcopter, reading the sensor data and change into the attitude of quadcopter, express it by the quaternion and the Euler angles respectively. Finally, through the debugging of PID parameters for quadcopter to achieve the ideal state. Key words:remote control;Wireless communication;quad-rotor;control;