四旋翼无人机控制系统的设计与实现

Abstract

The four-rotor UAV has been widely used in military, civil, scientific research and education fields because of its advantages of convenient carrying, simple structure, low price and strong mobility. The influence of natural wind on the four-rotor UAV can not be ignored, which is one of the main reasons for limiting the use of the four-rotor UAV. In order to solve the problem of weak anti-wind ability of four-rotor UAV and improve the adaptability of four-rotor UAV to harsh environment, this paper presents a controller design which can improve its anti-wind performance combined with the subject of Anshan Research Institute of Harbin Institute of Technology.

Firstly, according to the characteristics of the translational and angular motion of the four-rotor UAV, the dynamic equations of the four-rotor are established in combination with coordinate transformation. The related wind speed model is established to analyze the flight state of the four-rotor in the presence of wind disturbance and to discuss the effect of natural wind on the four-rotor UAVs.

According to the dynamic equations of the four-rotor, the attitude sliding mode controller based on the proportional switching method and the attitude sliding mode controller based on the exponential approach law are designed, respectively. By comparing the two methods, the one with better control effect is used as the final controller.

Then the hardware system of four-rotor UAV is designed, including the selection of UAV power system and the hardware design of flight control system. An independent power supply system is designed to meet the demand of different devices. The selection of attitude and position sensor and the circuit design of flight control board are carried out.

Finally, the software design of flight control system is carried out by using top-down hierarchical design idea. For multi-task execution with different call frequency, the design of task scheduling is put forward, which completes the real-time scheduling of multi-task. Through the outdoor flight experiment of the four-rotor UAV, it is proved that the controller designed in this paper can make the four-rotor aircraft have better anti-wind disturbance effect.

Keywords: Four-rotor UAV, UAV, Anti-wind Disturbance, Sliding Mode Control, Flight Control

摘要 .......................................................................................................................... I ABSTRACT ................................................................................................................ II 第1章绪论 .. (1)

1.1课题背景及研究的目的和意义 (1)

1.2国内外四旋翼无人机研究现状 (2)

1.2.1 国外研究现状 (2)

1.2.2 国内研究现状 (4)

1.2.3 控制技术的发展情况 (6)

1.3本文的主要研究内容及章节安排 (7)

第2章动力学模型建立 (9)

2.1引言 (9)

2.2飞行原理及坐标变换 (9)

2.2.1 四旋翼无人机的飞行原理 (9)

2.2.2 四旋翼坐标系建立与变换 (11)

2.3四旋翼无人机动力模型建立 (14)

2.3.1 四旋翼动力学模型建立 (14)

2.3.2 待定参数计算及实验法测定 (18)

2.3.3 电机模型建立 (21)

2.3.4 电调模型建立 (22)

2.4风速模型建立 (23)

2.4.1 风速模型 (23)

2.4.2 风速模型仿真 (24)

2.4.3 风速对旋翼的作用形式 (24)

2.5本章小结 (26)

第3章控制器设计 (27)

3.1引言 (27)

3.2滑模控制原理概述 (27)

3.3姿态SMC控制器的设计 (28)

3.3.1 姿态SMC控制的建立 (28)

3.3.2 基于比例切换的SMC设计方法 (28)

3.3.3 基于指数趋近律的SMC设计方法 (31)

3.4位置SMC控制器的设计 (33)

3.5SMC控制效果分析 (35)

3.6本章小结 (38)

第4章硬件系统设计与实现 (39)

4.1引言 (39)

4.2硬件系统总体设计 (39)

4.3无人机动力系统选型 (40)

4.3.1 机架及电池选型 (40)

4.3.2 桨叶、电机及电机驱动器选型 (41)

4.4飞行控制系统设计及实现 (41)

4.4.1 飞控板设计 (42)

4.4.2 无线通信及遥控 (46)

4.5本章小结 (47)

第5章飞行控制系统软件设计与实现 (49)

5.1引言 (49)

5.2软件系统层次设计与任务调度 (49)

5.2.1 软件系统层次设计 (49)

5.2.2 任务调度 (50)

5.2.3 开发环境介绍 (51)

5.3传感器数据读取及处理 (52)

5.3.1 传感器数据处理 (52)

5.3.2 陀螺仪及加速度计 (53)

5.3.3 气压计及磁力计 (54)

5.4SMC控制器软件设计 (56)

5.5定点飞行实验 (57)

5.6本章小结 (61)

结论 (62)

参考文献 (63)

哈尔滨工业大学学位论文原创性声明和使用权限 (67)

致谢 (68)