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四旋翼自主飞行器摘要：四旋翼飞行器是一种结构新颖、性能优越的垂直起降飞行器，具有操作灵活、带负载能力强等特点，具有重要的军事和民用价值，以及研究价值。在深入了解四旋翼飞行器的研究现状、关键技术与应用前景的基础之上，根据四旋翼飞行器飞行原理，建立系统动力学模型，确定了系统组成和总体设计方案。首先根据设计方案采购了简单飞行器机体模型，选择合适的直流无刷电机作为系统动力装置，设计线性度良好、功率满足一定要求的无刷电机驱动器，以满足四旋翼飞行器带载飞行需要。选取了功能强大且容易开发的微处理器、传感器和相关电子元器件满足系统需要，并做了大量的系统软硬件调试工作，最终完成了整体设计。飞行器运动姿态测量单元主要由惯性测量单元(IMU)和三轴磁传感器组成，根据其传感器的性能指标，构建数学模型，从而得到载体准确的航向信息和相应姿势，为飞行器系统稳定飞行提供重要的保障。四旋翼无人飞行器要实现稳定飞行是以平衡控制为前提的，由于该飞行器具有六自由度而只有四个控制量的欠驱动的控制系统，通过调节四个电机转速实现飞行器平衡稳定飞行，因此平衡控制是四旋翼飞行器运动中的关键。根据系统动力学模型设计控制算法，设计四旋翼飞行器控制系统控制规律，主要包括两个控制回路：姿态控制回路、位置控制回路。在仿真软件平台上，通过仿真验证后将算法移植到处理器中，进行控制算法验证及实验研究，优化飞行控制算法参数。最后，为了满足四旋翼无人飞行器的稳定飞行控制的要求，设计实时性高的控制系统软件程序，进行相关实验调试工作。最终设计出能够实现一键飞行、高效的四旋翼自主飞行器。关键词：四旋翼飞行器瑞萨R5F100LEAPWM陀螺仪超声传感器Abstract:Fourrotoraircraftisakindofnovelstructure,superiorperformanceof2verticaltake-offandlandingaircraft,hasmanycharacteristics,suchasflexibleoperationandloadability,hastheimportantvalueofmilitaryandcivilian,andresearchvalue.Inunderstandingtheresearchstatusoffourrotoraircraft,thekeytechnologyandtheapplicationprospect,accordingtotheprincipleoffourrotoraircraftflight,establishasystemdynamicsmodel,thesystemcompositionandtheoveralldesignschemeisdetermined.Firstaccordingtothedesignplantopurchasethesimplevehiclebodymodel,selecttheappropriatebrushlessdcmotorasthepowerunitsystem,designgoodlinearityandpowermeetcertainrequirementsofbrushlessmotordrive,tomeettheneedsofthefourrotoraircraftflyingonload.Selectedthepowerfulandeasydevelopmentofmicroprocessors,sensorsandrelatedelectroniccomponentsmeettheneedsofthesystem,andmadealotofsystemhardwareandsoftwaredebugging,finallycompletedtheoveralldesign.Aircraftmotionmeasurementunitismainlycomposedofinertialmeasurementunit(IMU)andathree-axismagneticsensor,accordingtothesensorperformanceindex,buildthemathematicalmodelofthecarriertogettheexactcourseinformationandthecorrespondingposition,provideimportantguaranteeforaircraftflyingsystemstable.Fourrotorunmannedaerialvehiclestoachievestableflightisthepremiseofthebalancecontrol,duetotheaircrafthassixdegreesoffreedomonlyfourcontrolofunderactuatedcontrolsystem,byadjustingthemotorspeedtoachievefouraircraftflyingbalancedandstable,sothebalancecontroliskeyinthefourrotoraircraftmovement.Onthesimulationsoftwareplatform,throughthesimulationverifythealgorithmaftertransplantationintotheprocessor,verifiesthecontrolalgorithmandexperimentalresearch,optimizationofflightcontrolalgorithmparameters.Finally,inordertomeettherequirementsofthestabilityofthefourrotorunmannedspacecraftflightcontrol,highreal-timeperformanceofcontrolsystemsoftwaredesign,carriesontherelatedexperimentaldebugging.Akeytoachieveultimatelydesignedtofly,highefficientandautomaticfourrotoraircraft.Keywords:fourrotoraircraftrenesasR5F100LEAPWMgyroscopeultrasonicsensors3目录一、系统方案比较与设计...............................................................................................................4二、单元电路设计与计算...............................................................................................................41.四旋翼飞行器飞行模式....................................................................................................42.系统硬件芯片的选择......................................................................................................103、飞行姿态的测量...............................................................................................................134、超声波传感器高度控制...................................................................................................135、电源模块...........................................................................................................................146、硬件电路图.......................................................................................................................14三、程序设计.................................................................................................................................15四、系统测试.................................................................................................................................161、基本部分测试...................................................................................................................162、测试方法...........................................................................................................................183、测试结果...........................................................................................................................16五、结论17六、参考文献.................................................................................................................................17七、附录........................................................................................................................................181、仪器设备清单...................................................................................................................182、程序清单...........................................................................................................................181主函数..................................................................................................