小型四旋翼无人直升机控制系统设计_硕士论文.doc

硕士论文 小型四旋翼无人直升机控制系统设计I小型四旋翼无人直升机控制系统设计小型四旋翼无人直升机控制系统设计摘摘 要要四旋翼飞机由于其结构复杂、操纵性差等缺点导致其研究进展较为缓慢近些年来，随着新型材料、微机电（MEMS）、微惯导（MIMU）技术和飞行控制理论的发展，四旋翼无人直升机获得了越来越多地关注四旋翼无人直升机在军事和民用领域具有广阔的应用前景，可用来环境监视、情报搜集、高层建筑实时监控、协助和救助、电影拍摄和气象调查等；它还是火星探测无人飞行器的重要的研究方向之一本文针对小型四旋翼无人直升机，以 TMS320F28335 为核心，设计了四旋翼无人直升机控制器的软硬件系统，实现了近地环境下的姿态控制首先，根据设计目标对控制系统总体结构、软硬件整体进行设计按功能将控制系统划分成机体平台、控制器模块、传感器模块、电源模块、数据处理模块和通讯模块六个独立的模块本文设计了基于四元数法的捷联式惯性导航系统，并经过实际系统检验为了克服惯性导航固有的参数发散缺陷，本文给出了导航补偿方法，实验结果说明了补偿方法的有效性。

为了克服 A/D 转换存在的偏差和高频噪声问题，本文设计了软件矫正算法数字低通滤波器，减少了 A/D 偏差，降低了高频噪声姿态控制是飞行控制的核心问题，四旋翼无人直升机的结构特殊性决定了其控制器设计的特殊性：四旋翼无人直升机通过四个螺旋桨实现对六个被控量的控制，是一个欠驱动系统本文建立了四旋翼无人机的非线性动力学模型，设计了 PID 控制器进行姿态控制仿真和实际系统控制结果表明，该 PID 控制器可以得到较好的姿态控制效果，验证了控制系统设计的有效性关键词关键词：四旋翼无人直升机，控制器，捷联惯导，DSPAbstract 硕士论文AbstractThe history of four rotor helicopter is almost as long as humanity's aircraft history. But because of the shortage of complexity and the maneuverability, it develops very slow. Recent years, along with new material, MEMS, MIMU and the flight control theory's progress, unmanned four rotor helicopter obtained more and more attention.The main content of this paper is to design the controller of unmanned four rotor helicopter. The control system is divided in six independent modules according to the function: navigation system, controller, software system and debugging.The navigation system is a important component of the unmanned four rotor helicopter. According to the actual system, this paper designed a simplified inertial navigation system, and has carried on the reality system test. The attitude control is the core question of flight control, unmanned four rotor helicopter structure specificity decides the specificity of the controller: unmanned four rotor helicopter has four propellers, may output four upward thrust forces, but have six control aims. The control system department needs simultaneously control four rotor's thrust forces to achieve the flight plan. This paper has built system's model and designed the PID controller control the attitude. From the results of actual system and simulation we have got a acceptable control effect, it verified the validity of the control system design.Key word: Unmanned four rotor helicopter, controller, Navigation, DSP硕士论文 小型四旋翼无人直升机控制系统设计III目目 录录摘摘 要要...............................................................................................................I Abstract ..............................................................................................................II 1 绪论绪论 ..................................................................................................................11.1 引言............................................................................................................................11.2 四旋翼直升机工作原理............................................................................................11.3 四旋翼直升机发展历史............................................................................................11.4 国内外研究现状和研究热点....................................................................................21.4.1 国外研究现状 .................................................................................................21.4.2 国内研究现状 .................................................................................................31.4.3 四旋翼直升机研究热点 .................................................................................31.5 论文内容安排............................................................................................................4 2 总体设计总体设计 ..........................................................................................................62.1 设计目标....................................................................................................................62.2 控制系统结构设计....................................................................................................62.2.1 硬件总体设计 .................................................................................................72.2.2 软件总体设计 .................................................................................................72.3 控制系统功能设计....................................................................................................82.3.1 导航系统 .........................................................................................................82.3.2 控制算法 .........................................................................................................92.3.3 通信系统 .........................................................................................................92.3.4 电源系统 .........................................................................................................92.3.5 控制器选型 ..................................................................................................。