STM32四轴飞行器的设计

摘要：本文主要针对三个方面进行讨论，即四轴飞行器的设计、数学建模以及控制器的设计。首先，对小型四轴飞行器的历史发展及其研究成果做了大致的介绍，并将现代四轴飞行器的相关研究引入其中。其次，本次设计的四轴飞行器的样机模型和飞行控制器的电路设计也会在此一一呈现。接着，从机械结构和控制器电路设计这两个方面着手，论述了四轴飞行器的实物设计。通过查阅资料、分析结构以及选择合理的器件型号，将实现一个可用的，并且能满足研究的四轴飞行器模型。想要设计一个四轴飞行器，最重要的是必须先有一个稳定可用的样机模型，所以通过分析四轴飞机的飞行控制原理，建立了四轴飞行器的数学姿态模型。继而，在此基础上提出了一种实际可行的控制算法，详细论述了姿态角的求解和PID参数的调试部分。最后，笔者对飞行器进行了各性能指标考察，同时也进行了实地飞行，调试并优化飞行器软件控制器方面的设计。52703

毕业论文关键词：四轴飞行器；姿态；控制

Design of four axis aircraft

Abstract：In this paper, the discussion focused on three aspects, namely, four-axis aircraft design, mathematical modeling and controller design. First, the historical development and research of small four-axis aircraft made a general introduction, and research modern four-axis aircraft introduced therein. Secondly, four circuit design prototype model aircraft and flight controllers of this design will be presented one by one in this. Next, the controller circuit from the mechanical structure and design of these two aspects, discusses the physical axis aircraft design. Through access to information, analysis of the structure and reasonable choice of device type, we will achieve a usable and can meet the four-axis aircraft model studies. Want to design a four-axis aircraft, the most important thing is you must have a stable prototype model available, so by analyzing the principle of four-axis flight control of the aircraft, the mathematical model of the attitude axis of the aircraft. Then, on this basis, we propose a practical control algorithm for solving the debug section discusses in detail the PID parameters and attitude angle. Finally, the author carried out each aircraft performance study, also conducted a field flight, debugging and optimizing aircraft controller software aspects of the design.

Keywords:：quadrotor；attitude；control

第1章绪论 1

1.1 前言 1

1.2 课题的目的和意义 1

1.3 国内外发展状况 2

1.4 关键技术和设计难点 4

第2章四轴飞行器组成 4

2.1 结构特性 4

2.2 四轴飞行器的系统结构 8

2.3 硬件介绍 8

2.3.1 电机 8

2.3.2 电机驱动设计 10

2.3.3 STM32F1主控板 14

2.3.4 MPU6050六轴传感器 16

第3章数学建模 18

3.1 飞行器姿态表示 18

3.2 方向余弦矩阵微分方程式 24

3.3 四元数微分方程式 24

第4章程序编写 25

4.1 软件介绍 25

4.1.1 MDK 5.0 STM32四轴飞行器的设计:http://www.youerw.com/zidonghua/lunwen_56689.html