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分类号V249单位代码11395密级学号1005270133学生毕业设计（论文）题目四旋翼自主飞行器设计作者刘赟跃院(系)能源工程学院专业测控技术与仪器指导教师王晶答辩日期2014年5月24日榆林学院毕业设计（论文）诚信责任书本人郑重声明：所呈交的毕业设计（论文），是本人在导师的指导下独立进行研究所取得的成果。毕业设计（论文）中凡引用他人已经发表或未发表的成果、数据、观点等，均已明确注明出处。尽我所知，除文中已经注明引用的内容外，本论文不包含任何其他个人或集体已经公开发表或撰写过的研究成果。对本文的研究做出重要贡献的个人和集体，均已在文中以明确方式标明。本人毕业设计（论文）与资料若有不实，愿意承担一切相关的法律责任。论文作者签名:年月日榆林学院本科毕业设计（论文）I摘要四旋翼飞行器是能够垂直起降、多旋翼的飞行器。与传统旋翼式飞行器不同的是其在飞行中四只旋翼可以相互抵消掉反扭力矩，而不需要反扭矩桨，使其结构更紧凑、产生更大升力。同时因其飞行空间小、效率高、飞行稳定、易控制等优点，使之在军事、民用方面有广阔的前景。本设计以16位瑞萨(Renesas)单片机RL78/G13—R5F100LEA作为控制核心，通过电子调速器控制、驱动飞行器的四个直流电机，利用三轴角速度传感器、三轴加速度传感器组成飞行器飞行状态检测、控制模块，采用红外收发管实现飞行器飞行壁障、超声波传感器测距来控制、检测飞行高度，以C语言、卡尔曼滤波及PID算法实现控制软件的编写从而实现低空飞行的四旋翼自主飞行器验证机的设计。设计首先对四旋翼飞行器进行概述，分析四旋翼飞行器特点和发展趋势。其次，根据设计要求进行系统方案设计，并完成总体结构设计、硬件设计、软件设计。最后，进行调试、验证试飞。本设计从低成本、低功耗、高性能方面入手，完成了飞控系统硬件设计、制作、电路调试等实现了四旋翼自主飞行器的基本功能。关键词：四旋翼飞行器；电子调速器；加速度传感器；卡尔曼滤波；PID四旋翼自主飞行器设计IIDesignofFour-rotorAutonomousAircraftABSTRACTFour-rotoraircraftisamultirotoraircraft,whichiscapableofverticaltake-offandlanding.Differentfromthetraditionalrotarywingaircraftfour-rotoraircraftcanbemutuallyoffsetantitorsionmoment,withouttheneedofantitorquepropeller,makingitmorecompactandcangenerategreaterlift.Atthesametime,becauseofitsadvantagesofhighefficiency,smallspaceflight,flightstability,easycontrol,whichmakeithaveabroadprospectinmilitary,civilian.Thedesignusethe16bitRenesasRL78/G13MCUR5F100LEAascontrolcore,throughtheelectronicspeedcontrol,drivingtheaircraft’sfourDCmotors,makeuseofthethreeaxisangularvelocitysensor,threeaxisaccelerationsensorasflightstatedetectionandcontrolmodule,usingtheinfraredreceivingtubetoachieveflightobstacleavoidance,ultrasonicsensortocontroltheflyingheight,distancedetection,usingClanguage,CalmanfilterandPIDalgorithmtoachievethecontrolsoftwaretorealizethetestmachinedesignoffour-rotorautonomousaircraftwhichcanflyatlowaltitude.Thisdesignfirstgivesanoverviewofthefour-rotoraircraft,flightcharacteristicsandthedevelopmenttrendsofthefour-rotoraircraft.Secondly,accordingtothedesignrequirementsdesignthesystem,andcompletetheoverallstructuredesign,hardwaredesign,softwaredesign.Finally,debugging,flight-testandverification.Fromtheaspectsoflowcost,lowpower,highperformance,thedesigncompletedtheflightcontrolsystemhardwaredesign,manufacture,circuitdebuggingandrealizedthebasicfunctionsofthefour-rotorautonomousaircraft.Keywords:Four-rotoraircraft;Electronicspeedcontrol;Accelerationsensor;Calmanfilter;PID榆林学院本科毕业设计（论文）III目录摘要...............................................................................................................................IABSTRACT.....................................................................................................................II目录............................................................................................................................III1绪论..............................................................................................................................11.1本设计的目的及意义.........................................................................................11.2国内外发展研究现状.........................................................................................11.2.1国外发展研究现状...................................................................................11.2.2国内发展研究现状...................................................................................21.3本设计的主要内容.............................................................................................21.4本章小结.............................................................................................................22四旋翼自主飞行器总体设计......................................................................................32.1四旋翼自主飞行器飞行平台.............................................................................32.2四旋翼自主飞行器的结构及控制原理.............................................................32.3本章小结.............................................................................................................73四旋翼自主飞行器硬件设计......................................................................................93.1系统结构分析.....................................................................................................93.2微控制系统模块.................................................................................................93.3飞行姿态检测模块...........................................................................................103.3.1飞行姿态检测传感器——MPU6050.....................................................113.3.2MPU6050与主机的通信.......................................................................133.4电机驱动模块...................................................................................................153.5超声波测距模块...............................................................................................173.6红外避障模块...................................................................................................183.7电源模块...........................................................................................................183.8飞行控制模块.....................................