四旋翼飞行器控制系统设计学士学位论文.doc

四旋翼飞行器控制系统设计
摘要
四旋翼飞行器与普通飞行器相比,具有结构简单、故障率低和单位体积能够产生更大的升力等优点;而且四旋翼飞行器非常适合在狭小的空间内执行任务。因此,四旋翼飞行器具有广阔的应用前景,吸引了众多的科研人员,成为国内外新的研宄热点。飞行控制器是四旋翼飞行器最核心的部分,飞行器通过飞行控制器与外界交互并做出反应,使得飞行器能够在没有外界操纵干预的情况下自主飞行。飞行控制器性能的优劣直接决定着飞行器的性能,因此研制高性能的飞行控制器具有十分重要的意义。同时,飞行控制器的设计和研发涉及电子、通信、自动化和计算机等多种学科,在技术上具有相当大的前沿性。
本文首先介绍了四旋翼飞行器的课題背景和研宄现状,进而又介绍了四旋翼飞行器的控制原理。
其次介绍了四旋翼飞行器控制系统的硬件设计,主要包括器件选型和电路设计两个部分。飞行控制系统的主控制器选用了ATmega2560微控制器,传感器选用了MPU6050、HMC5883电子罗盘
随后又介绍了ATmega2560最小系统、传感器模块和电源管理模块的电路设计。再次详细介绍了四旋翼飞行器控制系统的软件设计,主要包括坐标系和姿态角定义以及姿态计算方法,最后设计了一套基于四元数的姿态检测系统。随后又介绍了PID控制算法并设计了姿态控制系统。
关键词四旋翼飞行器; 飞行控制器; 四元数; PID控制算法
Design of Quadrotor Aircraft Control System
Abstract
Compared to the ordinary aircraft, quadrotor aircraft has the advantages of simplerstructure, lower failure rate,each unit of volume can produce greater lift and so on. Therefore,quadrotor aircraft has a broad prospect of application that attractes many researchers es the new hot topics at home and aircraft flight controller is the most central part of the aircraft,nablingaircrafts to autonomous flight without manipulation from ,the developmentof high performance flight controller is of great importance. Meanwhile, the design and research of flight controllers has a considerable foresight in technology.
Firstly, this article describes the quadrotor aircraft's background and current status of research,then introduces the quadrotor aircraft's flying principle.
Secondly, this article introduces the hardware design of the quadrotor aircraft's flight system. Chose microcontroller ATmega2560 as the flight controller's main controller and chose sensors as following: mpu6050, pass HMC5883.
Thirdly,this article introduces the software design of the quadrotor aircraft's flight system in detail. Including ,coordinate system,the definition of attitude angles and the calculation method of ,designs a attitude detection system based on quaternion and kalman filter. After that,introduces the PI