四旋翼设计与实现.doc

四旋翼设计与实现毕业设计论文摘要四轴无人机是一种结构新颖的多旋翼飞行器,其通过调节四个电机的转速来实现飞行控制。与常规旋翼式飞行器相比,对称分布的四个桨叶可使旋翼的反扭矩相互抵消,不需要额外的反扭矩尾桨。在民用和工业应用领域,无人机因其因其独特的结构和优秀的性有着广泛的应用前景,如灾情救援、交通检测、货物运输等领域都有实际应用的意义。本文根据无人机的特性, 采用了基于 ARM CortexM4 架构的STM32 F3 微处理器作为飞控平台。利用板载的陀螺仪和加速度计MPU-6050 内部的 DMP 功能进行姿态解算,通过 PID 姿态控制器来实现无人机准确的姿态控制。同时,在无人机上加装了超声波传感器和GPS模块, G 频段的遥控器进行无线控制,以定点定高的悬停功能来实现精准的货物投放。四轴无人机上又可加装 OSD 等模块进行数据的实时传输和数据采集,以在实际中有更多应用。关键词:四轴飞行器; STM32 F3;MPU6050 ;PID 控制;超声波传感器 ABSTRACT Four-axis unmanned aerial vehicle isa novel multi-rotor aircraft, which adjusts the speed of four motors to achieve flight control. Compared with the conventional rotorcraft, the symmetrical distribution of the four blades of the rotor torque can cancel each other, without additional anti-torque tail rotor. In civil and industrial applications, unmanned aerial vehicles because of its unique structure and excellent sex has a wide range of applications, such as disaster relief, traffic detection, cargo transportation and other fields have practical significance. According to the characteristics of unmanned aerial vehicles, the STM32F3 microprocessor based on ARM CortexM4 is adopted as the flight control platform. The posture of the unmanned aerial vehicle (UAV) can be controlled by the PID attitude controller based on the onboard gyro and the DMP function of the accelerometer MPU-6050. At the same time, in the unmanned aerial vehicles to install the ultrasonic sensor and GPS module, through the band remote control for wireless control to fixed-point high hover function to achieve accurate delivery of goods. 4-axis unmanned aerial vehicles can be installed on the OSD and other modules for real-time data transmission and data acquisition, in practice there are more applications. Key words : four-axis vehicle; STM32F3; MPU6050; PID control; ultrasonic sensor 目录 1概论............................................................................................................................ 1 选题背景............................