四旋翼无人机设计

本科毕业设计四旋翼无人机设计学院机械工程学院专业机械设计制造及自动化学号4113010612学生姓名余涛涛指导教师袁永超提交日期2017年5月20日编码2017-JXSJ专业代码080202-208诚信承诺书本人郑重承诺和声明:我承诺在毕业论文撰写过程中遵守学校有关规定,恪守学术规范,此毕业论文(设计)中均系本人在指导教师指导下独立完成,没有剽窃、抄袭他人的学术观点、思想和成果,没有篡改研究数据,凡涉及其他作者的观点和材料,均作了注释,如有违规行为发生,我愿承担一切责任,接受学校的处理,并承担相应的法律责任。毕业论文设计作者签名：年月日I摘要近来来无人机行业发展迅速，相比于传统固定翼飞行器，四旋翼结构简单，操作易上手，让那些重未接触过航模的人能够轻松完成飞行。本文重四旋翼无人机的飞行原理入手，设计了飞行器的硬件系统，其中包括各类传感器，并依据PID算法实现飞行器自稳，接着进行了飞行调试。本次设计选用的飞控是以STM32芯片作为核心，根据各传感器不同的特征，采用不近相同的校正方式对飞行器其中包含的各个传感器所显示的数据进行更正。最后运用PID算法对这些数据进行组合，通过改变四旋翼电机的转速，来实现飞行器的各种飞行动作和不同的飞行模式。在组装四轴无人机的过程中，不断地调试和修正飞控主程序，最终做出了有多种飞行模式且能平稳飞行的四旋翼无人机。关键词：姿态传感器;STM32微型处理器;数据融合;PID算法IIABSTRACTThefourrotorUAVbecauseofitsrelativelysimplestructure,andthecontrolisalsoveryconvenient,soit'sbecomeahotindustryinrecentyears.ThispaperintroducesthedesignandproductionofthefourrotorUAV,inwhichcontainstheprincipleofflightfourrotorUAV,theflighthardwarethespecificdebuggingandselection,cascadePIDalgorithmandsystemsoftware.TheselectedfourrotorUAVcontrolsystemisbasedonSTM32microcontrollerasthecore,inaccordancewiththecharacteristicsofeachsensor,thecorrectionisnotnearlythesamecorrectionforeachaircraftsensorcontainsthedatadisplayed.FinallyusingPIDalgorithmforthecombinationofthesedata,andthencontrolfourmotorrotorfour,andthentoimplementvariousaircraftflightmaneuversandaerobatics.InthedesignandproductionofthefourrotorUAVstepInthispaper,alotofdebuggingiscarriedout,andcomparedwiththeexistingexcellentattitudealgorithm,andthenverified,andfinallyproducedafourrotoraircraftcapableofcontinuousandstableflightoperationsKeyWords：MEMSSensor;STM32Processor;DataFusion;PIDIII目录1绪论.................................................................................................................................11.1研究背景及意义...................................................................................................11.2国内外四旋翼飞行器的研究现状.......................................................................11.2.1国外四旋翼飞行器的研究现状...............................................................11.2.2国内研究现状...........................................................................................21.3本文研究内容和方法..................................................................................32四旋翼无人机的结构与工作原理.................................................................................42.1四旋翼无人机的结构...........................................................................................42.2四旋翼无人机工作原理.......................................................................................43四旋翼无人机硬件系统设计.........................................................................................93.1微惯性组合系统传感器组成...............................................................................93.1.1MEMS陀螺仪传感器................................................................................93.1.2MEMS加速度计传感器............................................................................93.1.3三轴数字罗盘传感器...............................................................................93.2姿态测量系统传感器选型.................................................................................103.3电源系统设计.....................................................................................................113.4其它硬件模块.....................................................................................................123.4.1无线通信模块.........................................................................................123.4.2电机和电机驱动模块.............................................................................123.4.3机架和螺旋桨的选型.............................................................................133.4.4遥控控制模块.........................................................................................144四旋翼飞行器系统软件设计.......................................................................................164.1系统程序设计.....................................................................................................164.1.1姿态系统软件设计.................................................................................164.1.2PID控制算法设计...................................................................................175飞行器试验...................................................................................................................195.1飞行试验准备.....................................................................................................195.1.1试飞平台组成.........................................................................................195.1.2试飞实验注意事项.................................................................................195.2试飞内容及结果.................................................................................................205.2.1地面静态实验测试.................................................................................205.2.2动态飞行实验测试.................................................................................226总结与展望...................................................................................................................28IV参考文献........................................