机械设计说明书—广告无人机控制系统及可收放式起落架的设计.docVIP

PAGE PAGE II 本科毕业设计(论文) 题目：广告无人机控制系统及可收放式起落架的设计 II PAGE PAGE I III 广告无人机控制系统及可收放式起落架的设计 摘要 无人机在军事、民用和科技领域发挥着越来越重要的作用。旋翼无人机具有体积小、质量轻、无人驾驶、可垂直起降和定点悬停、操作性好等优势。无人机飞行控制系统的设计是实现无人机自主飞行的关键与核心，飞行控制系统的性能优劣直接决定了旋翼无人机的飞行性能及其完成任务的情况。因此研制适合多旋翼无人机的轻型化、低成本、低功耗的飞行控制系统具有重要的理论价值和工程应用价值。 以起落架四点布局无人机为研究对象,在考虑摩擦力、侧向力和角速率等各种因素的情况下,全面分析研究了四轮无人机地面滑跑时的运动特点和受力情况,建立了四轮无人机地面运动的动力学方程和运动学方程。在此基础上,对 全量非线性模型进行了起飞、着陆时地面滑跑情况的仿真,仿真结果表明系统模型的正确性。 关键词：无人机；飞行控制系统；地面运动 PAGE I西安工业大学也北方信息工程学院毕业设计（论文） PAGE I IV Advertising UAV Control System And Retractable Landing Gear Design Abstract UAVs in military, civil and technology plays a more and more important role. Rotor UAV has the advantages of small volume, light weight, unmanned, vertical take off and landing and hovering, good operability advantages. Design of UAV flight control system is the key and core non autonomous flight of UAV flight control system, performance directly determines the performance of rotor UAV flight and complete the task of. Therefore the development of light flight control system, low cost, low power consumption for multi rotor UAV has important theoretical and engineering application value. The landing gear four UAV as the research object, considering the friction force, lateral force and angular rate and other factors, a comprehensive analysis of the movement characteristics of the four round of UAV Ground taxiing and stress, the dynamic and kinematic equations of the four round of the UAV Ground motion. On this basis, to the whole nonlinear model simulation taxiing, take-off landing situation, the simulation results show the correctness of system model. Keywords: UAV; Flight Control Systems; Ground Motion VI 目 录 TOC \o 1-3 \h \u 14662 1 绪论 1 5107 2 飞控系统 3 6513 2.1 整体系统结构 3 7258 2.2 机载控制系统 4 7588 2.2.1 飞行控制计算机 4 28451 2.2.2 导航系统 5 24639 2.2.3 超声波测高模块 5 27412 2.2.4 舵机驱动模块 6 17220 3 地面系统 7 22298 3.1 视觉处理 7 29469 3.2 地面站 8 21107 4 起落架的设计 10 11396 4.1起落架的组成