文档介绍：摘要
六旋翼无人机是一种具有可垂直起降能力的小型无人飞行器,它通过上下共轴
放置的三组共六个电机提供升力,通过改变旋翼转速来调整姿态,通过调整姿态进
一步实现位置控制,具有悬停性能优异、移动灵活、机械结构紧凑、零部件可靠性
高等优点。
论文首先对六旋翼无人飞行器的调姿原理进行了介绍,分析了其飞行姿态的调
整方式。并建立了六旋翼无人机的数学模型,根据实际情况对其数学模型进行了必
要的简化。接着,论文完成了对于六旋翼无人机控制系统硬件平台的组建,组建了
高精度的传感器系统,并完成了飞行控制器硬件的设计与实现,完成了硬件调试工
作以及驱动的编写工作。然后,论文建立了六旋翼无人机的完整控制系统,其中包
含位置控制部分、高度控制部分以及姿态控制部分,建立了一套完整的对姿态传感
器进行机械防震与数字滤波的方法;提出了一种新颖的气压计、超声波传感器和加
速度计的融合方法,通过实验验证了滤波效果;提出了一种优化的拉力分配方法使
得控制系统的可靠性得到增强。接着,论文设计实现了飞行控制软件的主要功能,
从技术层面上对于实时性与可靠性进行了大幅的提升。最后,论文通过悬停试验验
证了姿态控制器的控制精度;通过抗干扰能力试验验证了姿态控制器的稳定性;通
过信号跟踪试验验证了姿态控制器的跟踪性能;通过高度控制实验验证了高度控
制器的控制性能;通过视频跟踪实验验证了六旋翼无人机整体控制架构的合理性
与有效性。
关键词:六旋翼无人机;PID;多环路控制;数据融合
VI
哈尔滨工业大学本科毕业设计(论文)
Abstract
Hex-rotor is one kind of small unmanned aerial vehicles (SUAV) which have the
ability of vertical take-off and landing (VTOL). It gets thrust by controlling six rotors
with propellers which are divided into 3 groups of coax ial rotors. Its attitude is controlled
by regulating the spinning speed of the rotors which in turn makes its position
controllable .The hex-rotor has multiple advantages such as the ability of vertical take-
off and landing, good mobility and high reliability. Therefore, the hex-rotor has broad
application prospects and enormous value of research.
Firstly, the flying principle was divided into four main modes of motion and analyzed
separately. The dynamic model of the hex-rotor SUAV was deduced with some necessary
simplifications.
Then, the control system hardware was built using high-precision sensors. The work
of debugging the hardware and programming th e drivers was also done.
In the following, the main control scheme was proposed posed of three
main controllers: position controller, height controller and attitude controller. plete
solution to reduce the noise in the g yroscope and accelerometer caused by vibration was
proposed including mechanical anti-vibration method and a digital filter called alpha-beta
filter. A new method of fusing the