毕业设计（论文）-四旋翼飞行器设计与控制精选.docx

本科生毕业设计题目：四旋翼飞行器的设计和控制摘要四旋翼飞行器具备 VTOL(Vertical Take-Off and Landing，垂直起降)飞行器的所有优点，又具备无人机的造价低、可重复性强以及事故代价低等特点，具有广阔的应用前景。可应用于军事上的地面战场侦察和监视，获取不易获取的情报。能够执行禁飞区巡逻和近距离空中支持等特殊任务，可应对现代电子战、实现通信中继等现代战争模式。在民用方面可用于灾后搜救、城市交通巡逻与目标跟踪等诸多方面。工业上可以用在安全巡检，煤矿井下等人工不容易到达空间进行安全任务检查与搜救工作，能够对执行区域进行航拍和成图等。因此，四轴飞行器的研究意义重大。全套图纸加本文主要对四旋翼飞行器的机械系统、姿态测量系统、电控系统、软件系统进行了讨论和设计。在机械系统部分，首先对四旋翼飞行器的运动机理进行了分析，然后进行了机体机构的设计和建模；在姿态测量系统，主要先对测量系统的姿态解算及误差进行了建模，然后根据建立的数学模型，对姿态测量系统进行了具体的设计及算法的实现；在电控系统部分，主要先对硬件电路进行了设计与选型，然后对数字PID控制器进行了设计；在软件部分，实现了包括硬件驱动程序及相关算法实现的一整套程序的编写。最后，实现了机体的制作和姿态测量系统的组装及调试。关键字：四旋翼飞行器； 姿态测量系统； 姿态融合； 误差模型； 飞控程序；ABSTRACTThe quadrotor not only has the same merits as any other aircraft, but also has cost as low as unmanned aerial vehicle (UAV), high repeatability and low accident rate and so forth. The quadrotor can be applied in many fields. In military, it can be used in battlefield detecting and surveillance as an effort for acquiring intelligence information, which is difficult to access. Also, it is capable to conduct some special tasks, such as patrolling in no-fly zone and providing short-range support in the air. So, the quadrotor can achieve communication relay in electronic warfare and other modern campaign modes. In civilian application, the quadrotor can provide value in searching survivors, city traffic patrolling and target tracking and many other situations. Its extensive and valuable application can’t be ignored. It can be used in big chemical processing fields, high-voltage electricity transmission line zones,mine and other spaces which are hardly accessible for humans to conduct security inspection and rescuing task, in which situations it can do aerial photographing and form images. On the basis of its extensive application and profound value, it is very significant for us to do research in the development of quadrotor.This paper focuses onare discussinganddesigning of mechanicalsystems, attitude measurement system, electronic control systems, softwaresystems.In themechanica