无人机六旋翼设计Word文件下载.docx

1、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

2、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-rotor is one kind of small unmanned aerial vehicles （SUAV） which have the ability of vertical t

3、ake-off and landing （VTOL）. It gets thrust by controlling six rotors with propellers which are divided into 3 groups of coax ial rotors. Its attitude is controlled by regulating the spinning speed of the rotors which in turn makes its position controllable .The hex-rotor has multiple advantages such

4、 as the ability of vertical take-off and landing, good mobility and high reliability. Therefore, the hex-rotor has broad application prospects and enormous value of research. Firstly, the flying principle was divided into four main modes of motion and analyzed separately. The dynamic model of the he

5、x-rotor SUAV was deduced with some necessary simplifications.Then, the control system hardware was built using high-precision sensors. The work of debugging the hardware and programming th e drivers was also done.In the following, the main control scheme was proposed which composed of three main con

6、trollers: position controller, height controller and attitude controller. A complete solution to reduce the noise in the g yroscope and accelerometer caused by vibration was proposed including mechanical anti-vibration method and a digital filter called alpha-beta filter. A new method of fusing the

7、data f rom ultrasonic sensor, barometer and accelerometer was prop osed in the paper. Experiment was conducted to prove the effectiveness of the fusion method. An optimized thrust distribution method was also introduced to maintain the robustness of the system. Some technology was also introduced to

8、 keep the real-time performance and reliability of the control software. Finally, some flight experiments were introduced to prove the performance of the controller: hovering test for the controller accuracy, anti-interference for controller stability, signal-tracking experiment for controller track

9、ing capability and vision -based target tracking for the overall system performance. 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 .