毕业设计论文终极终极稿.doc

（2014届） 本科毕业设计（论文）资料 题 目 名 称： 四旋翼飞行器PID控制器的设计 湖南工业大学教务处  2014届 本科毕业设计（论文）资料 第一部分 毕业论文 （2014届） 本科毕业设计（论文） 2014年5月 摘 要 近年来，随着新材料的涌现及新传感技术的发展四旋翼飞行器迅速发展起来。本设计主要介绍一种四旋翼飞行器的实现方案，以意法半导体公司生产的基于AMR Cortex-M3内核的STM32F103C8T6微型控制器作为计算控制单元，以Invensense公司生产的MPU6050作为惯性测量单元，整合飞行器姿态本文详细介绍了四旋翼飞行器的飞行原理、硬件构造和软件设计设计了一种PID控制器，实现了四轴飞行器的各项动作控制。 关键词： 四旋翼飞行器，STM32F103，MPU6050，姿态解算，PID控制器 ABSTRACT In recent years, with the new material and new technology, the quad-rotor obtains a rapid development .And that made it become a popular flight model among many model aircraft enthusiasts. Quad-rotor is a kind of symmetry with the advantages of simple structure, strong flexibility, It can take off and land vertically, In addition, it can also hover in the air and even do some difficult maneuver. Its superior performance has the very broad application prospects. This design will introduce a scheme to make a quad-rotor. The design used STM32F103C8T6 which worked with the new-fashioned ARM Cortex-M3 micro processer as the control unit. In addition, a chip named MPU6050 was used to measure the attitude data of the quad-rotor, and the wireless communication module named NRF24L01 to make the PC and the quad-rotor communicate well. Besides, a WFLY07 remote was used to control the quad-rotor. We stated the flight theory, and the structure of the hardware and software in detail importantly, a PID controller was designed to control the attitude and made it really worked. Keywords：Quad-rotor，STM32F103，MPU6050，Attitude calculation，PID controller 摘 要 I ABSTRACT II 第一章 四旋翼飞行器概述 1 1.1引言 1 1.2四旋翼飞行器的国内外研究现状 1 1.2.1 国外研究现状 1 1.2.2 国内研究现状 2 1.3设计意义及应用前景 3 第二章 四旋翼飞行器飞行原理 4 第三章 四旋翼飞行器常用部件及安装 6 3.1四旋翼飞行器部件介绍 6 3.1.1 风火轮450机架 6 3.1.2 新西达2212 930kv无刷电机 6 3.1.3 新西达30A电子调速器 7 3.1.4 1045正反浆 8 3.1.5 2200mAh 11.1V 30C 充电锂电池 9 3.1.6 飞行主控stm32f103c8t6 9 3.1.7 惯性器件MPU6050 10 3.1.8 天地飞7遥控器 11 3.1.9 天地飞7无线接收机 12 3.1.10 5V稳压电路 13 3.2 四旋翼飞行器的安装 14 3.2.1 飞行器硬件连接图 14 3.2.2 x模式和+模式的区别 14 3.2.2