内蒙古工业大学小型四轴飞行器位置控制及实现.docxVIP

（二 〇 一 年 六 月摘 要小型四轴飞行器结构简单、易于实现悬停，方便灵活，拥有六个自由度,同时拥有四个输入通道,但有6种表现状态，是欠驱动系统，它是一种具有四个螺旋桨的飞行器并且四个螺旋桨呈十字形交叉结构，相对的四旋翼具有相同的旋转方向，分两组，两组的旋转方向不同。与传统的直升机不同，四旋翼直升机只能通过改变螺旋桨的速度来实现各种动作。如今广泛用在航拍、探测等领域，具有极高的研究价值与商业价值。四旋翼飞行器的控制系统由姿态测量系统、飞行控制系统组成。姿态测量系统实时采集传感器数据，准确估算飞行器的姿态信息。飞行控制系统以控制指令和姿态反馈作为输入，通过姿态控制算法计算出各电机的控制量并发送到电机驱动系统，带动旋翼转动实现飞行的姿态调整。本文设计用STM32为主芯片，通过对飞控板和遥控器两部分的设计研究实现无人机的位置控制。以NRF24L01实现无线通信、MPU6050陀螺仪来检测无人机姿态，用互补滤波器原理来进行姿态的融合算法，四元数计算出飞机姿态，和遥控器传过来的期望的姿态做差，通过PID算出每个轴向的控制量，然后把三个值分别分配到四个电机上。通过变化的PWM波形，改变四个电机的旋转速度，从而改变飞行器的力矩，调整飞行器的位置及。关键词：四轴飞行器；陀螺仪；PID；四元数AbstractFour small aircraft has the advantages of simple structure, convenient and flexible, easy to achieve hover, has six degrees of freedom, also has four input channels, but there are 6 states, is an underactuated system, it is a kind of four propeller aircraft and four propellers were crossed with four rotor structure, relative the same direction of rotation, divided into two groups, two groups of different direction of rotation. Unlike conventional helicopters, the four rotor helicopter can only perform various operations by varying the speed of the propeller.The control system of the four rotor aircraft consists of attitude measurement system and flight control system. The attitude measurement system collects the sensor data in real time and estimates the attitude information of the aerocraft accurately. Flight control system to control command and attitude feedback as input, the control of each motor is calculated by attitude control algorithm, and then sent to the motor drive system to drive the rotor to achieve the attitude adjustment of the flight.In this paper, STM32 is used as the main chip, and the position control of unmanned aerial vehicle (UAV) is realized through the design of the two parts of the flight control board and the remote controller. NRF24L01 implementation of wireless communication, MPU6050 gyroscope to detect the UAV attitude, fusion algorithm with complementary filter principle for attitude, four