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题目基于AVR的四旋翼无人机
控制
院系软件学院(北)
专业计算机科学与技术
班级2011—2
学生姓名
学号
指导教师职称副教授
2015年 5 月 31
摘要
伴随计算机与控制理论的发展,无人飞行器已经成为一种热门的研究实践平台。四旋翼无人机作为无人机的一种结构简单的机型,其控制方式是研究的重点。本文重点研究对控制有重要影响的姿态解算和PID控制思想,并在此基础上实现四旋翼的控制飞行。
本论文实现基于Atmel公司出品的ATmega328p的单片机为主控芯片,用以实现四旋翼空中停留,俯仰,翻滚飞行。整体系统可划分为处理单元、遥控单元、姿态结算单元与控制输出单元。针对设计目标,本论文采用MPU6050姿态传感器内部的运动引擎(DMP)作为姿态感知单元,运用PID控制理论,由主控芯片整合各方面数据完成对飞行器的姿态调整,并通过PPM信号遥控器对飞行器实行飞行控制。通过现实飞行,验证方法的科学性与稳定性。
经过反复调试与试验,解决飞行过程中飞行器震动及其他外界因素对控制造成的影响,最终完成了对飞行器的控制。
关键字:ATmega328p、运动引擎DMP、PID控制,PPM
Abstract
With the development of puter and control theory, unmanned aerial vehicles has e a hot research practice platform. Four rotor unmanned aerial vehicle (uav) as a kind of simple structure model of the unmanned aerial vehicle (uav), the control mode is the key of the research. This paper research has important influence on the control of attitude algorithm and PID control, and on this basis to realize four rotor of flight control.
This thesis implemented based on pany produces ATmega328p single-chip puter as main control chip, to realize the four rotor aloft, pitch and roll. The whole system can be divided into processing units, remote control unit, posture and settlement unit and control unit of view of the design goal, this paper adopts the MPU6050 attitude sensor Digatal Motion Processor engine (DMP) as a gesture sensing unit, using PID control theory, the main control chip integrated data plete all aspects of aircraft attitude adjustment, and through the PPM signal remote control of the aircraft flight real flight, validation method is scientific and stability.
After repeated debug and test, solve in the process of the flight vehicle vibration to control and other external factors, plete the control of the aircraft.
Key Word:ATmega328p、MotionProcessing、PID Control、PPM
目录
摘要 I
Abstract II
目录 III
第一章绪论 1
研究意义 1
研究状况 2
研究重点 3
第二章理论基础 5
工作原理 5
姿态描述 6
欧