摘 要：四轴飞行器具有结构简单、稳定可靠、体积小、功耗低、环境适应能力强、飞行灵活等优点，能搭载各传感器完成很多特定的任务。本设计基于STM32F103芯片作为核心控制器，结合驱动电路、电源电路等硬件电路支持，设计了基于传感器技术的2。4G无线通讯模块、传感器模块、无线控制模块等。在用C语言编写的软件支持下，实现了各传感器数据的采集和各模块之间的通讯，经过PID运算得到能修正飞行路径的PID输出，并能在无线控制模块控制下控制四轴飞行器在多种飞行姿态下稳定飞行。该四轴飞行器结构简单，功能易扩展，课题研究成果经过完善可以在很多应用场景下发挥重要作用，应用前景广阔。91608

毕业论文关键词：四轴飞行器，STM32，无线控制，PID控制

Abstract: Four-axis aircraft with a simple structure, stable and reliable, small size, low power consumption, environmental adaptability, flight flexibility, etc。, can carry the sensor to complete a lot of specific tasks。 This design is based on STM32F103 chip as the core controller, combined with the driver circuit, power supply circuit and other hardware circuit support, designed based on sensor technology 2。4G wireless communication module, sensor module, wireless control module。 In the C language with the support of the software, the realization of the sensor data acquisition and communication between the modules, through the PID operation can be amended to correct the flight path PID output, and in the control of the wireless control module under the control of four-axis aircraft in the Stable flight under a variety of flight gestures。 The four-axis aircraft structure is simple, easy to expand the function of research results can be improved in many applications can play an important role in the application of broad prospects。来自优I尔Y论S文C网WWw.YoueRw.com 加QQ7520~18766

Keywords: four - axis aircraft,stm32f,wireless control,pid fuzzy control 

目   录

1   前言 6

1．1  四翼飞行器综述 6

1．2  研究背景和意义 6

1．3  主要研究内容 7

2  四轴飞行器机构及原理 7

2．1  四轴飞行器结构 7

2．2  四轴飞行器飞行原理 7

3  系统设计 9

3．1  整体设计 9

3．2  功能模块概述 10

4  硬件设计 10

4．1  控制器模块 10

4．2  传感器模块 12

4．3  电机和驱动方案 15

4．4  通讯方案 16

4。 5  系统供电及稳压电路 21

5  软件方案 21

5．1  STM32F103软件方案 21

5．2  硬件驱动 22

6  飞控算法和遥控器控制协议 27

6．1  姿态解算 27

6．2  遥控器模块 29

7 系统测试 30

7．1  测试目标与要求