2.2 四旋翼无人机工作原理 ....................................................................................... 4
3 四旋翼无人机硬件系统设计 ......................................................................................... 9
3.1 微惯性组合系统传感器组成 ............................................................................... 9
3.1.1 MEMS 陀螺仪传感器................................................................................ 9
3.4.2 电机和电机驱动模块 ............................................................................. 12
3.4.3 机架和螺旋桨的选型 ............................................................................. 13
4.1.2 PID 控制算法设计 ................................................................................... 17
5 飞行器试验 ................................................................................................................... 19IIFra bibliotek目 录
1 绪论 ................................................................................................................................. 1
1.1 研究背景及意义 ................................................................................................... 1
5.1.2 试飞实验注意事项 ................................................................................. 19
5.2 试飞内容及结果 ................................................................................................. 20
3.1.2 MEMS 加速度计传感器............................................................................ 9
3.1.3 三轴数字罗盘传感器 ............................................................................... 9
飞行原理入手，设计了飞行器的硬件系统，其中包括各类传感器，并依据 PID 算法
实现飞行器自稳，接着进行了飞行调试。本次设计选用的飞控是以 STM32 芯片作为
核心，根据各传感器不同的特征，采用不近相同的校正方式对飞行器其中包含的各
个传感器所显示的数据进行更正。最后运用 PID 算法对这些数据进行组合，通过改
aerobatics. In the design and production of the four rotor UAV step In this paper, a lot of
debugging is carried out, and compared with the existing excellent attitude algorithm, and
4.1 系统程序设计 ..................................................................................................... 16
4.1.1 姿态系统软件设计 ................................................................................. 16
then verified, and finally produced a four rotor aircraft capable of continuous and stable
flight operations
Key Words：MEMS Sensor; STM32 Processor; Data Fusion;PID
3.4 其它硬件模块 ..................................................................................................... 12
3.4.1 无线通信模块 ......................................................................................... 12
编
码
专业代码
本科毕业设计
四旋翼无人机设计
学
院
机械工程学院
专
业
机械设计制造及自动化
学
号
4113010612
学生姓名
余涛涛
指导教师
袁永超
提交日期
2017 年 5 月 20 日
2017-JXSJ
080202-208
诚
信
承
诺
书
本人郑重承诺和声明:
我承诺在毕业论文撰写过程中遵守学校有关规定,恪守学
术规范,此毕业论文(设计)中均系本人在指导教师指导下独立
four rotor UAV, the flight hardware the specific debugging and selection, cascade PID
algorithm and system software. The selected four rotor UAV control system is based on
3.2 姿态测量系统传感器选型 ................................................................................. 10
3.3 电源系统设计 ..................................................................................................... 11
very convenient, so it's become a hot industry in recent years. This paper introduces the
design and production of the four rotor UAV, in which contains the principle of flight
displayed. Finally using PID algorithm for the combination of these data, and then control
four motor rotor four, and then to implement various aircraft flight maneuvers and
5.2.1 地面静态实验测试 ................................................................................. 20
5.1 飞行试验准备 ..................................................................................................... 19
5.1.1 试飞平台组成 ......................................................................................... 19
1.2.2 国内研究现状 ........................................................................................... 2
1.3 本文研究内容和方法 .................................................................................. 3
STM32 microcontroller as the core, in accordance with the characteristics of each sensor,
the correction is not nearly the same correction for each aircraft sensor contains the data
完成,没有剽窃、抄袭他人的学术观点、思想和成果,没有篡改
研究数据,凡涉及其他作者的观点和材料,均作了注释,如有违