【作者】 程敏；

【导师】 梁延德；

【作者基本信息】 大连理工大学 ， 机械制造及其自动化， 2012， 硕士

【摘要】 小型四旋翼飞行器是一种通过对四个旋翼联合驱动而实现垂直起降的无人飞行器,其主要特点有机构新颖简单,易于实现定点悬停,飞行平稳可靠,起飞重量大,操控简便,在侦查和探测领域具有广阔的应用前景。本文以自制小型电动四旋翼飞行器作为研究平台,实现对其空中运动姿态的数学描述,建立完整的动力学模型,并针对姿态解算方法和飞行控制算法展开研究,最终完成飞行器的稳定悬停和远程操控等研究目标。首先,本文对国内外现有的四旋翼飞行器研究以及相关技术做出叙述和比较,并总结其中的优缺点,得出了本课题研究中四旋翼飞行器所要实现的性能和设计指标。综合考虑操作和价格等因素,设计出一种简便的小型四旋翼飞行器方案,选取常见的工程材料以及电子器件,搭建出相应的实体平台和硬件控制系统。测试结果表明该实物平台能够实现四旋翼飞行器的研究特性。其次,针对小型四旋翼飞行器姿态解算问题,本文对比常见的捷联姿态表示方法,选用方向余弦法表示飞行器姿态演化,结合搭建的航姿参考系统的特点,基于互补滤波器算法设计出一种优化的姿态求解器,该方法创新地将陀螺仪、加速度传感器和数字罗盘的数据进行融合分析,实现了四旋翼飞行器姿态的快速准确解算。再次,对四旋翼飞行器进行动力学分析,利用牛顿-欧拉方程建立六自由度动力学简化模型,从而推导出适用系统的实时控制策略,基于经典的PID控制技术设计出稳定可靠的控制器,以实现四旋翼飞行器的稳定悬停和遥控飞行。最后,对设计的姿态求解器和控制器展开实验测试,结果表明这些方法满足对四旋翼飞行器的精确和快速控制,能够达到预期的研究目标。更多还原

【Abstract】 Small quadrotor, an unmanned aerial vehicle who can achieve vertical take-off and landing (VTOL) by combined control of the four rotors, has many advantages such as simple body structure, easy to achieve hover, smooth and reliable, with large takeoff weight, simple manipulation, having broad application prospects in the investigation and detection fields. The research objects of this thesis is to describe flight attitude of the aircraft, create kinetic model, research on attitude estimation method and flight control algorithm, achieve stable hover and remote control using the self-made quadrotor as research platform.Firstly, this thesis describes and compares the research status and related technical of the quadrotor, summarizes advantages and disadvantages of the researches, then proposes the function and technical indicators of the self-made quadrotor. To design the mechanical platform and the control circuit meeting the technical requirements proved by experiment, choosing common engineering materials and electronic components according to prices and processing performance.Secondly, this thesis compares the common strapdown attitude representations, then chooses the direction cosine to describe attitudes of the quadrotor. A solver which can fuse data of gyroscope, acceleration sensor and compass and realize attitude estimation is designed based on complementary filter algorithm.Thirdly, the kinetic model with six degrees of freedom of the quadrotor is built using Newton-Euler equations after kinetic analysis, then a reliable controller which can achieve hover and remote operation of the quadrotor is designed based on PID technology.Finally, to carry out experiments on the solver and the controller, results show they can achieve accurate and real-time control for the quad-rotor and reach the research targets.更多还原