基于ap10的室内飞艇控制系统研究-模式识别与智能系统专业论文.docxVIP

沈阳航空航天大学硕士学位论文摘要 沈阳航空航天大学硕士学位论文 摘要 本文依托于中国科技馆异形飞艇项目，研究对象是室内无人飞艇控制系统。目前在 国内室内飞艇控制系统的研究尚属空白，而室内飞艇的应用价值却越来越得到重视，本 文提出了一种基于APlO的室内飞艇控制系统方案。 首先，介绍了飞艇的发展历史、室内飞艇的状况及国内外微小型自动驾驶仪的研究 现状。研究了驾驶仪的工作原理，并选取一款价格低廉，性能相对稳定的微型自动驾驶 仪APl0作为研究对象，分析了其结构和工作原理，其中详细分析APl0的导航原理，并 研究了将其应用在室内飞艇上的可能性。 接着，依据APl0的工作原理及室内飞艇的功能需求，提出了一种基于APl0的室内 飞艇控制系统方案，详细介绍了改制过程。整个过程分为两个步骤：一、改$1JAPl0使其 能够应用在室内飞艇上，实现自主飞行。二、APl0本身不具备自主起降功能，附加上白 $lIRC接收与控制系统联合控制室内飞艇，使其具备了自主起降的功能。 然后，依据室内飞艇的功能配套需求设计了地面站监控软件。地面监控软件实现了 对室内飞艇的指令控制、控制方式切换、航迹规划和控制参数的实时调整；能够对飞艇 姿态、航迹等遥测参数进行实时显示。 最后，对整个系统进行了联合调试，试验结果表明：该控制系统能够使室内飞艇在 室内实现自主飞行，且具备了自主起降的功能，从而为室内飞艇的控制方法提供了很好 的参考。 关键字：室内飞艇；飞行控制系统；APl0；UWB；数据转换；舵机控制系统； 沈阳航空航天大学硕士学位论文 沈阳航空航天大学硕士学位论文 Abstract The research obj ect of this paper is control system on indoor unmanned airship，and this subject is relying on one program in Museum of Science and Technology．In the domestic indoor airship control system is still blank，the application of indoor airship has been more emphasis on value，this paper presents a novel of controlling indoor airship based on AP 1 0． First of all，introduce the development history of the airship，the airship’S position and domestic indoor miniature autopilot Research．Of the pilot works，and select a low—cost， relatively stable performance of the micro Autopilot AP I O as the research obj ect，analyzes its structure and working principle，which detailed analysis of the AP 1 0 navigation principles， and study their application the possibility of indoor blimp． Secondly，propose a scheme of controlling indoor airship based on AP 1 0 based on the working principle of AP 1 0 and the functional requirements of the indoor airship，and detail the restructuring process．The whole process is divided into two steps，one：it can be used in the indoor airship after restructuring AP 1 0，to achieve the capacity of autonomous flight． Second：AP 1 0 itself does not have independent landing functions，additional on the RC receiver and control system made the joint control room airship，it has the func