摘要四轴飞行器作为时下最热门的一种飞行器，已经越来越受到广大科学爱好者和商业公司的关注。本文详细介绍了四轴飞行器的制作过程，包括四轴飞行器飞行原理，硬件的介绍和选型，软件算法的具体实现。57167
本设计的传感器包括三轴加速度器、三轴陀螺仪、电子罗盘。无线通讯方面，天地飞7通道2.4G遥控器和2.4G接收器。控制系统以 STM32 单片机为核心，先对姿态传器数据进行滤波，然后进行姿态解算及互补滤波，之后通过遥控器指令对姿态进行串级 PID 控制四轴飞行器的四个电机，来达到各种飞行目的。
毕业论文关键词：四轴飞行器；串级PID调节；STM32。
Abstract Four axis aircraft as nowadays one of the most popular vehicle, it has been more and more get the attention of broad science amateur and commercial companies.This paper introduces in detail the making process of the four shaft aircraft,Including four axis aircraft flight principle, the introduction and selection of hardware and software implementation of the algorithm.
The design of the sensor including triaxial acceleration scheduler, three-axis gyroscope.Wireless communications, used MC6A aeromodelling 6 and 2.4 G channel remote control receiver.Control system with STM32 MCU as the core,pose the data filtering, and then carries on the attitude algorithm and the complementary filter, then through the remote control instruction of attitude for cascade PID control four axis four motor vehicle, to achieve the purpose of all kinds of flight.
Key words:Four axis aircraft;PID control;STM32.
目 录
摘要.2
Abstract 3
1绪论6
1.1本课题的目的和意义6
1.2.1国外研究综述7
1.2.2国内研究综述8
2系统综述10
2.1四轴飞行器的飞行原理10
2.2四轴飞行器的设计目标10
2.3四轴飞行器的基本工作过程11
2.4飞控底层驱动11
3四轴飞行器硬件组成11
3.1硬件模块选择12
3.1.1传感器模块12
3.1.2动力模块14
3.1.3浆的选型15
3.1.4电调调速模块的选型16
3.1.5电池和充电器的选型17
3.1.6控制模块18
3.1.7电池和充电器19
3.2硬件电路设计19
3.2.1电源模块20
3.2.2无刷电调控制电路20
3.2.3传感器电路21
3.2.4最小系统电路21
3.2.5控制系统连线22
4飞控程序设计23
4.1编程语言、编程工具23
4.1.1编程语言-c语言23
4.1.2编程工具-Keil uVision423
4.2滤波算法24
4.3姿态算法24
4.4 PID控制算法26
4.5 PWM输出控制29
5 仿真与调试32
5．1控制系统仿真实验果33
5.2控制系统调试34
5．3本章小结35
致谢35
参考文献36
1绪论
1.1本课题的目的和意义
四轴飞行器作为时下最热门的一种飞行器，已经越来越受到广大科学爱好者和商业公司的关注，从amazon的用四轴飞行器为客户投递包裹的设想就可见一斑。可以说四轴飞行器未来的应用前景十分广阔。 STM32小型四轴飞行机器人控制系统设计+程序+电路图+CAD图纸:http://www.youerw.com/jixie/lunwen_61754.html