摘要：    从1907年开始,四轴飞行器就不断的被广泛研究。特别是小四轴在实际生活中具有广大的应用前景,被研究的更加广泛。其中四轴飞行器所涉及到的技术包含有:机械结构、飞行动力学、自动控制、导航、电路设计等多个方面。通过自己研制一个四轴飞行器,不但可以学习多方面的技术,同时在制作的过程中,也可以开阔自己的视野,了解当前嵌入式控制这个专业的发展情况,对后期的工作也有很大的帮助。38614
首先，本文介绍了四轴飞行器的平台结构及其控制原理，建立了四轴飞行器的非线性数学模型，用小扰动法对非线性模型进行线性化，得到了悬停状态下简化的四轴飞行器线性模型，并以此作为研究对象对其进行控制系统设计。用经典的PID控制方法，设计了悬停状态下四轴飞行器的姿态控制律和位置控制律。
其次，依据四轴飞行器独特的特性，本文采用了最新ARM Cortex M3架构的STM32系列微处理器平台，全球首款集成加速度计与陀螺仪的MPU-6050作为飞行姿态测量传感器，以2.4G全球开放频段为无线数据传输控制方式。借鉴卡尔曼滤波器原理设计权值姿态融合算法，将当前姿态与目标姿态作比较，利用PID控制器线性调整系统PWM输出占空比，控制电机转速以调整飞行姿态。
最后对设计的四轴飞行器样机进行实验与调试。结果显示，姿态融合算法能够有效得到稳定的飞行姿态，PID 控制器可线性输出 PWM 占空比，飞行器能够完成基本飞行动作。
关键词：    四轴飞行器；飞行控制器；姿态融合；嵌入式；PID控制
Design of Quadrocopter
Abstract:     From 1907, four aircraft will continue to be widely studied. Particularly small axis has broad application prospects in real life, is more extensive research. Wherein the axis of the involved aircraft technology includes: a plurality of aspects of mechanical structures, flight dynamics, automatic control, navigation and circuit design. Development of a four-axis aircraft by yourself, not only can learn a wide range of technology, while in the production process, or you can broaden their horizons, to understand the current professional development of embedded control this situation, the work of the late great help .
First, this paper introduces the platform structure and control principle axis of the aircraft, the nonlinear mathematical model of four-axis aircraft, with a small perturbation method for nonlinear model of linear, obtained under a simplified four-axis aircraft in hover linear model, and as a research object to control system design. The classical PID control method, designed hover state quadrocopter attitude control law and position control law.
Secondly, based on the unique characteristics of four-axis aircraft, we use the latest ARM Cortex M3 STM32 family of microprocessor architecture platform, the world's first integrated accelerometer and gyroscope MPU-6050 as a flight attitude measurement sensors to 2.4G global open band wireless data transmission control. Kalman filter design principles draw weights attitude fusion algorithms, the current attitude attitude compared with the target, the use of PID controller to adjust the system of linear PWM output duty cycle, motor speed control to adjust the flight attitude.
Finally, the four-axis aircraft prototype design of experiments and debugging. The results show that attitude fusion algorithm can obtain a stable flight attitude, PID controller linear output PWM duty cycle, the aircraft can perform basic flight maneuvers.
Keywords:    Quadrocopter; flight controller; attitude integration; embedded; PID control
目录
摘要    i
Abstract    ii
目录    iii
1    绪论    1 STM32+MPU-6050四轴飞行器设计+电路图:http://www.youerw.com/jixie/lunwen_37630.html