无人机六旋翼设计Word文件下载.docx
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整方式。
并建立了六旋翼无人机的数学模型,根据实际情况对其数学模型进行了必
要的简化。
接着,论文完成了对于六旋翼无人机控制系统硬件平台的组建,组建了
高精度的传感器系统,并完成了飞行控制器硬件的设计与实现,完成了硬件调试工
作以及驱动的编写工作。
然后,论文建立了六旋翼无人机的完整控制系统,其中包
含位置控制部分、高度控制部分以及姿态控制部分,建立了一套完整的对姿态传感
器进行机械防震与数字滤波的方法;
提出了一种新颖的气压计、超声波传感器和加
速度计的融合方法,通过实验验证了滤波效果;
提出了一种优化的拉力分配方法使
得控制系统的可靠性得到增强。
接着,论文设计实现了飞行控制软件的主要功能,
从技术层面上对于实时性与可靠性进行了大幅的提升。
最后,论文通过悬停试验验
证了姿态控制器的控制精度;
通过抗干扰能力试验验证了姿态控制器的稳定性;
通
过信号跟踪试验验证了姿态控制器的跟踪性能;
通过高度控制实验验证了高度控
制器的控制性能;
通过视频跟踪实验验证了六旋翼无人机整体控制架构的合理性
与有效性。
关键词:
六旋翼无人机;
PID;
多环路控制;
数据融合
VI
哈尔滨工业大学本科毕业设计(论文)
Abstract
Hex-rotorisonekindofsmallunmannedaerialvehicles(SUAV)whichhavethe
abilityofverticaltake-offandlanding(VTOL).Itgetsthrustbycontrollingsixrotors
withpropellerswhicharedividedinto3groupsofcoaxialrotors.Itsattitudeiscontrolled
byregulatingthespinningspeedoftherotorswhichinturnmakesitsposition
controllable.Thehex-rotorhasmultipleadvantagessuchastheabilityofverticaltake-
offandlanding,goodmobilityandhighreliability.Therefore,thehex-rotorhasbroad
applicationprospectsandenormousvalueofresearch.
Firstly,theflyingprinciplewasdividedintofourmainmodesofmotionandanalyzed
separately.Thedynamicmodelofthehex-rotorSUAVwasdeducedwithsomenecessary
simplifications.
Then,thecontrolsystemhardwarewasbuiltusinghigh-precisionsensors.Thework
ofdebuggingthehardwareandprogrammingthedriverswasalsodone.
Inthefollowing,themaincontrolschemewasproposedwhichcomposedofthree
maincontrollers:
positioncontroller,heightcontrollerandattitudecontroller.Acomplete
solutiontoreducethenoiseinthegyroscopeandaccelerometercausedbyvibrationwas
proposedincludingmechanicalanti-vibrationmethodandadigitalfiltercalledalpha-beta
filter.Anewmethodoffusingthedatafromultrasonicsensor,barometerand
accelerometerwasproposedinthepaper.Experimentwasconductedtoprovethe
effectivenessofthefusionmethod.Anoptimizedthrustdistributionmethodwasalso
introducedtomaintaintherobustnessofthesystem.Sometechnologywasalso
introducedtokeepthereal-timeperformanceandreliabilityofthecontrolsoftware.
Finally,someflightexperimentswereintroducedtoprovetheperformanceofthe
controller:
hoveringtestforthecontrolleraccuracy,anti-interferenceforcontroller
stability,signal-trackingexperimentforcontrollertrackingcapabilityandvision-based
targettrackingfortheoverallsystemperformance.
Keywords:
Hex-rotor,PID,Multi-loop,Data-fusion
摘要..........................................................VI
Abstract.........................................................VII
第1章绪论.......................................................1
1.1论文研究的目的与意义....................................................................................1
1.2国内外研究现状................................................................................................2
1.2.1四旋翼无人机的研究现状.........................................................................3
1.2.2六旋翼无人机的研究现状.........................................................................4
1.2.3六旋翼控制理论研究现状.........................................................................6
1.3本文主要研究内容............................................................................................6
第2章六旋翼无人机数学模型的建立.................................8
2.1六旋翼无人机飞行机理分析............................................................................8
2.1.1坐标系定义.................................................................................................8
2.1.2四种基本运动.............................................................................................9
2.2六旋翼无人机机体结构设计..........................................................................10
2.2.1机架选型...................................................................................................10
2.2.2动力系统设计...........................................................................................11
2.3运动方程的推导..............................................................................................11
2.4本章小结..........................................................................................................16
第3章六旋翼无人机硬件设计......................................17
3.1总体方案..........................................................................................................17
3.1.1无线通讯链路...................................................