基于STM32的小型四旋翼飞行器设计与研究
基于STM32的小型四旋翼飞行器设计与研究(任务书,开题报告,外文翻译,论文17000字)
摘 要
四旋翼飞行器结构简单，控制方便，具有较高的军事和民事运用前景，在近些年来逐渐变得热门起来。本文详细的介绍了四旋翼飞行器的飞行原理，建立了四旋翼飞行器的数学模型，介绍了飞行器的姿态控制方法，硬件设备及其选型以及飞行器控制系统软件的设计。本次设计以STM32F103C8T6单片机为核心，通过采集到的传感器数据进行姿态角的解算得到姿态角信息，从而根据遥控器指令和姿态角信息通过控制算法控制电机转速，控制四旋翼飞行器的姿态和位置。本文选取串级PID控制作为飞行器的姿态控制算法，以实现四旋翼飞行器的准确、平稳的飞行。由于传感器受到噪声的影响，导致传感器测量数据的偏差，本文选取卡尔曼滤波算法来去除噪声，以实现精确的姿态测量。并利用四元数法对四旋翼飞行器进行姿态解算，实现了四旋翼姿态信息的实时计算。在制作四旋翼飞行器的过程中，通过四旋翼飞行器串级PID仿真调试与实际的调试PID参数，最终实现四旋翼飞行器的稳定飞行。
关键词：动力学建模；串级PID；Matlab/simulink；四元数姿态解算；STM32F103C8T6
Abstruct
Quadrotor is simple in structure, easy to control, and has high military and civil application prospects. In recent years, it has gradually become popular. In this paper, the flight principle of the quadrotor is introduced in detail, the mathematical model of the quadrotor is established, the attitude control method of the aircraft, the hardware equipment and its selection, and the design of the control system software of the aircraft are introduced. This design takes STM32F103C8T6 as the core, and obtains the attitude angle information by calculating the attitude angle of the collected sensor data, so as to control the motor speed and the attitude and position of the quadrotor through the control algorithm according to the command of the remote controller and the attitude angle information. In this paper, cascade PID control is selected as the attitude control algorithm of aircraft to achieve accurate and stable flight of quadrotor. Because the sensor is affected by noise, which leads to the deviation of sensor measurement data, Kalman filter algorithm is selected to remove noise in order to achieve accurate attitude measurement. The quaternion method is used to calculate the attitude of the quadrotor, and the real-time calculation of the attitude information of the Quadrotor is realized. In the process of making a quadrotor, the stable flight of the quadrotor is realized through the simulation debugging of the cascade PID of the quadrotor and the actual debugging of the PID parameters. [来源：http://www.doc163.com]
Key Words：Mathematical model;PID cascadecontrol;Matlab/simulink;Quaternion;STM32F103C8
[资料来源：http://www.doc163.com]
目录
摘要 I
Abstruct II
第1章前言 1
1.1 背景与意义 1
1.2 国内外研究现状 2
1.3 论文主要工作 3
第2章四旋翼飞行器原理与动力学模型 5
2.1四旋翼飞行器结构与飞行原理 5
2.1.1飞行器的组成 5
2.1.2四旋翼飞行器的飞行原理 6
2.2四旋翼飞行器动力学建模 8
2.2.1坐标系建立及转换 9
2.2.2建立四旋翼飞行器数学模型 10
第3章四旋翼飞行器姿态控制 15
3.1经典PID控制 15
3.2串级PID控制 16
3.2.1串级PID控制原理 16
3.2.2四旋翼串级PID仿真 17
3.2.3串级PID参数整定 20
3.3串级PID仿真实验 20
第4章四旋翼飞行器硬件设计 22
4.1四旋翼飞行器硬件设计 22
4.2主控制器模块 22
4.3惯性测量模块 23
4.4无线通信模块 24
4.5动力模块 25
4.6电源模块 26
第5章四旋翼飞行器控制系统软件设计 27
5.1四旋翼飞行器控制系统软件设计概述 27
5.1.1开发环境介绍 27
5.1.2软件总体设计 27
5.2姿态数据获取 28
5.2.1姿态解算 28
5.2.2原始传感器数据 28 [资料来源：Doc163.com]
5.2.3卡尔曼滤波 28
5.2.4四元数姿态解算 30
5.3串级PID控制算法 34
第6章经济性分析及总结展望 37
6.1经济性分析 37
6.2全文总结 37
6.3研究展望 38
参考文献 39
致谢 41
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