小型无人机自动控制系统设计改造

发布时间：2018-03-11 21:49

本文选题：捷联惯性导航　切入点：四元数　出处：《西安电子科技大学》2015年硕士论文　论文类型：学位论文

【摘要】：近年来无人驾驶飞行器(UAV)无论在技术进步还是市场开拓方面,都有了飞速的发展。本文围绕某款小型油动直升机自动控制系统的软硬件开发问题展开研究。论文直升机选择的是一款90级汽油动力发动机,多组舵机均采用先进的数字大扭力舵机模块以增强控制的准确性和实时性;起落架及部分结构部件在原有基础上进行了必要的较调和改进以增强承重部件的稳键性;在原有系统电路板基础上增加新的传感器以提高飞控的精准性。特别是对自动驾驶仪进行了大范围的系统改造,对电路框架和软件进行了结构性的改造,增加了新的数据输入来源;对地面站系统和飞控系统以及飞控系统各部件之间的通信协议进行了新的编排和测试,使得整电控系统更加趋于完善。为了将飞行过程的姿态数据和其他必要数据实时地回传到地面以便后台分析,新增加了基于Zigbee技术的输传电台及相应的接口,兼顾了巨量数据传送与实时性之间的矛盾,为进一步完善软硬系统提供平台。飞行姿态的解算算法是整个自动控制系统的重要的组成部分。姿态解算模块的硬件电路设计、各个传感器与双CPU之间的数据传输协议、姿态解算处理流程及算法软件编制的设计是本文研究的核心问题。新的传感器采用的是微机械(MEMS)器件,它与CPU之间采用的是I2C协议进行通信,继承了其他传感芯片与CPU的协议方式,使得板卡改造任务简单而务实。本文研究并采用了四元数法进行姿态的更新,使用四阶龙格-库塔法进行姿态矩阵的更新计算,解算精度和解算速度达到了预期的效果。
[Abstract]:In recent years, unmanned aerial vehicles (UAVs) have developed both in technology and in market development. This paper focuses on the development of software and hardware of an automatic control system for a small oil helicopter. The helicopter selected in this paper is a 90-stage gasoline engine. Many groups of steering gear adopt advanced digital large torsion steering gear module to enhance the accuracy and real time of control, landing gear and some structural parts are improved in order to enhance the stability of load-bearing parts. In order to improve the accuracy of flight control, a new sensor is added to the circuit board of the original system. In particular, the autopilot has been reformed in a wide range of systems, and the circuit framework and software have been reconstructed structurally. New data input sources have been added; communication protocols between ground station systems and flight control systems, as well as components of flight control systems, have been newly choreographed and tested. In order to transmit the attitude data and other necessary data to the ground in real time for background analysis, a new transmission station and corresponding interface based on Zigbee technology are added. Taking into account the contradiction between huge amount of data transmission and real-time, this paper provides a platform for further improving the soft and hard system. The flight attitude calculation method is an important part of the whole automatic control system, and the hardware circuit design of the attitude calculation module is presented. The data transmission protocol between each sensor and the dual CPU, the design of the attitude resolution process and the design of the algorithm software are the core problems in this paper. I2C protocol is used to communicate with CPU, which inherits the protocol between other sensor chips and CPU, which makes the task of board reform simple and practical. In this paper, the quaternion method is used to update the posture. The fourth order Runge-Kutta method is used to calculate the attitude matrix.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V279;V249.1

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