文档介绍：目录
四轴飞行器控制系统 III
摘要 III
ABSTRACT IV
第一章绪论 1
课题研究的相关背景 1
国内外研究现状 2
4
第二章结构与硬件的设计 5
5
5
6
微控制器 STC15W4K56S4 6
8
10DOF模块( GY-87) 9
TP4056 17
19
NOKIA 5110 20
第三章控制方案与软件设计 24
24
24
25
26
第四章仿真测试与试验 29
第五章总结 35
参考资料 36
附录 37
附录一:飞行器主电路图 37
附录二遥控器原理图 38
附录三 GY-87原理图 39
附录四元器件清单 40
附录五:实物图片 42
附录六程序 43
致谢 63
四轴飞行器控制系统
摘要
四轴飞行器拥有成本低、控制方便简单,在科技高速发展的21世纪得到了广泛的应用。四轴飞行器从结构简单,功能强大。在工业、农业、军事都有着不可替代作用。例如,人们主要使用无人机搭载喷淋设备,对大棚农田进行灌溉,军队利用无人机对一些人类难以到达也比较危险的区域进行检测和排查,发生地震后使用无人机进行搜救和航拍。
本设计以STC15系列单片机作为CPU,MPU6050为姿态测试元件,。融合数据,调节电机电压,达到整体飞行姿态。系统为了保证飞行状态还采用了互补融合算法。通过软件的编写以及模拟仿真,最后对飞行器的各个部分进行数据的检测和调整和整体的试飞。
关键词:四轴飞行器,无线模块,姿态融合,MPU
Four axis vehicle control system
ABSTRACT
Four axis craft simple with low cost, convenient control, in the rapid development of science and technology has been widely used in the 21st century. From four axis aircraft structure is simple, powerful. In industry, agriculture, military has an irreplaceable role. , for example, the main use of uav s spraying equipment, the greenhouses farmland irrigation, the use of unmanned aerial vehicle (uav) for some humans are more dangerous is hard to reach areas to testing and screening, earthquake using unmanned aerial vehicle (uav) for the rescue and aerial.
This design by STC15 series single chip as the CPU, MPU6050 for posture ponents, with G wireless transceiver module for remote control. Data fusion, adjust motor voltage, achieve the whole flight. System in order to ensure flight state also adopted plementary fusion algorithm. Through the writing of the software simulation, as well as the final data of aircraft parts of the testing and adjustment and the whole flight.
Keywords: four axis aircraft, wireless module, fusion, MPU
第一章绪论
课题研究的相关背景
四轴飞行器属于无人飞行器中的一款,四轴飞行器因为其体积小、性能强大、操作简单,已经在军用、民用多个领域被运用。在这个科技