四旋翼飞行机器人的设计与制作

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四旋翼飞行机器人的设计与制作Four-rotor flying robot design

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摘要

四旋翼飞行机器人它拥有着四个可以旋转的旋翼，属于多旋翼飞行机器人。四旋翼飞行机器人具有着两组对称着分布的旋翼。它是控制着两组对称的旋翼转动速度，而不是机械结构来完成着各种各样的飞行举动行为。四旋翼飞行机器人是一种外型新颖、功能优越的可以垂直起降的飞行机器人，结构简单、没有机械结构、飞行比较平稳方便。然而可以应用在人类无法接触到的一些复杂恶劣的环境当中去。在很多行业都有涉及到了，比如遥感勘测、军事侦察、喷洒农药、实时监控中，四旋翼飞行机器人及多旋翼飞行机器人已经得到了很广阔的应用在各个方面，并且也形成了相关产业。四旋翼飞行机器人还具有飞行姿态控制过程复杂、非线性控制、控制数量多等这些特性。

此次课题在综合了四旋翼飞行机器人的现状、技术与应用的基础之上，为了完成四旋翼飞行机器人造价低造型微的原则，按照它的数学模型以及控制系统的功能要求，完成了四旋翼飞行机器人的飞行姿态控制、姿态数据的获取和飞行姿态解算于MCU上。硬件上使用的是stm32系列STM32F103C8T6 32位处理器作为主控制器负责分析处理数据，依照姿态运算得出来的结果，输出电机的控制信号；采用场效应管驱动电路来驱动的心杯电机；检测姿态信息的惯性测量单元mcu-6050传感器模块用途；负责沟通实施飞行数据分析PC 机与蓝牙模块。整个的软件和硬件系统基此处于模块化设计的思想之上。传感器数据使用的通用数字接口和数据在飞行机器人各传感器采集到的交流和沟通。基于软件之上，飞行姿态控制软件的编写，在单片机上完成quaternion法和卡尔曼滤波算法，并把正确的姿态角也解算出来。姿态角的闭环控制也可以使用控制进行，稳住了飞行姿态。这次所设计的四旋翼飞行机器人可以很好的达到稳定飞行状态，并且抗震能力强。飞行姿态控制算法可完美完成使四旋翼飞行机器人稳定的飞行。

关键词 :四旋翼飞行机器人；姿态控制算法；飞行控制系统；滤波；

Abstract

Four-rotor flying robot which has a four rotatable rotor, are multi-rotor flying robot. Four-rotor flying robot with two symmetrical distribution of the rotor. It is to control the rotational speed of the rotor two symmetrical, rather than mechanical structure to accomplish a variety of flight doings. Four-rotor flying robot is a novel appearance, superior functions can VTOL flying robots, simple structure, no mechanical structure, convenient flight is relatively stable. However, it is used in humans can not come into contact with some of the complex and harsh environments were to go. In many industries we have involved, such as telemetry, military reconnaissance, spraying pesticides, real-time monitoring, four-rotor flying robot and multi-rotor flying robot has been a very broad application in various aspects, and also formed the related industries. Four-rotor flying robot also has the attitude control process is complex, nonlinear control, quantity control more of these characteristics.

The subject of the present situation is a mix of technology and application of four-rotor flying robot above, in order to complete the four-rotor flying robot principles of low cost small shape, according to the functional requirements of its mathematical models and control systems, completed a four-rotor Attitude control flying robots, attitude and flight data acquisition attitude solution to the MCU. Use the hardware is stm32 series STM32F103C8T6 32-bit processor is responsible for data analysis and processing as the main controller, the result was out of operation in accordance with the attitude control signal output of the motor; with FET drive circuit to drive the hearts of the cup motor; detecting posture mcu-6050 inertial measurement unit sensor module uses information; responsible for the implementation of flight data analysis communication between PC and Bluetooth module. The entire software and hardware systems in the above basic idea of modular design. Universal Digital Interface and data sensor data used in flying robots each sensor to the exchange and communication. Based on the software, attitude control writing software, complete quaternion and Kalman filtering algorithms on the microcontroller, and the right attitude angle is also solving it. Closed-loop control attitude angle control can also be used, to stabilize the flight attitude. The design of the four-rotor flying robot can be a good stable flight, and seismic capability. Attitude control algorithm can complete a perfect four-rotor flying robot to make stable flight.

Keywords Four-rotor flying robot attitude control algorithm flight control system extended Kalman filter