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毕业设计-飞行器自主控制技术研究，共54页，27949字，附外文翻译、答辩PPT
摘要
随着自动控制技术和智能决策技术的不断发展，无人机凭借其低成本，零伤亡，可重复使用和高机动等优点，成为了当代战争的重要作战工具之一，有着不可替代的作用。旋翼式飞行器作为一种无人机，其起飞和降落所需空间较少，在障碍物密集环境下的操控性较高，以及飞行器姿态保持能力较强的优点，在民用和军事领域都有广泛的应用前景。尤其是近年来对四旋翼飞行器的研究成果较多，融合了自动控制、传感以及计算机科学等诸多技术，成为了未来无人机的主要发展趋势，并成为目前重点的研究对象。
由于四旋翼飞行器具有体积小、重量轻、功耗低、具有多变量、非线性、强耦合、欠驱动等特性，其控制问题一直是该领域的研究重点。本论文的主要工作如下：
1）本文首先对小型四旋翼飞行器的国内外研究现状进行了简单的介绍；介绍四旋翼无人飞行器涉及的关键技术，设计了四旋翼无人飞行器整体结构，包括四旋翼无人飞行器的机械结构、控制系统硬件，搭建四旋翼无人飞行器研究平台。
2）对四旋翼无人飞行器进行力学分析，以小型四旋翼飞行器为实际对象，对四旋翼的建模和控制方法做了研究。根据对四旋翼飞行器的机架结构和动力学特性做详尽的分析和研究，在此基础上建立四旋翼飞行器的动力学模型，四旋翼飞行器有各种的运行状态，并对飞行器进行力学分析。
3）通过选取四旋翼无人飞行器在运动过程中的受力分析，完成对其动力学模型的建立，通过对传递函数做适当简化得到了系统仿真模型。进一步推出四旋翼无人飞行器在旋转运动和直线运动上的传递函数，针对现有四旋翼无人飞行器结构，建立机体坐标系，为四旋翼无人飞行器的飞行控制器的设计提供了可靠的控制模型。
4）通过Matlab中的Simulink模块，分别对姿态回路PI控制算法、姿态和位置回路的PID控制算法和积分分离PID控制算法进行了仿真，通过对PID飞行控制算法进行Matlab仿真可知，四旋翼无人飞行器在PI、PID、积分分离PID控制算法下是可控的。
通过仿真观察到飞行器能够基本达到稳定飞行的目的，不过在在实际检测系统中还是容易受到干扰，所以还是需要必要的控制。再验证了控制算法的有效性，并提出改进意见和方法。
关键词：四旋翼无人飞行器，动力学模型，PID控制

ABSTRACT
Since the UAV low cost, zero casualties , reusable and high mobility , etc., and therefore plays an irreplaceable role in the current war, widely welcomed by the military around the world in recent years has been rapid development . Self-control as the future development trend of unmanned aerial vehicles , has become the military departments, research institutes, research focus , Rotary-wing aircraft take-off and landing because of less space -intensive environments in the obstacle handling higher ability to maintain a strong and spacecraft attitude advantages in civil and military fields have a wide range of applications required . Among them, four rotorcraft research in recent years has matured and is automatically controlled fusion research , advanced sensor technology and computer science , and many other technical fields provides a platform .
As the four- rotor aircraft with a small size, light weight, low power consumption, multivariable , nonlinear, strong coupling , due to the driver and other features, its control has been the focus of research in this field . The main work of this paper is as follows :
Firstly, the research status of small four- rotor aircraft conducted a brief introduction ; introduces the key technologies involved in the four-rotor UAV , designed the four-rotor UAV whole structure , including the mechanical structure of the four- rotor UAV control system hardware , building four-rotor UAV research platform.
Four-rotor UAV for mechanical analysis , with small four- rotor aircraft for the actual object , modeling and control methods to do a four-rotor research . According to the frame structure and the dynamics of the four rotor aircraft to do a detailed analysis and research , kinetic model of four- rotor aircraft on this basis , there are a variety of four- rotor aircraft operational status , and aircraft mechanics analysis .
By selecting four-rotor UAV force analysis process in motion to complete the establishment of its dynamic model , through the transfer function has been simplified to make the appropriate system simulation model . Further introduced four-rotor UAV in the rotation and linear motion of the transfer function for an existing four-rotor unmanned aircraft structure, the establishment of the body coordinate system for the design of four-rotor UAV flight controller provides a reliable control model .
By Matlab, Simulink blocks , respectively attitude loop PI control algorithm , PID posture and position loop control algorithms and integral separation PID control algorithm simulation, flying through the PID control algorithm Matlab simulation shows that in the four-rotor UAV PI, PID, PID control under integral separation algorithm can be controlled.
By observing the simulation can basically achieve stable flight purposes. Can draw four rotor UAV capable of autonomous stable flight , the actual detection system is susceptible to interference , they still need the necessary control . Then verify the effectiveness of the control algorithm . And suggestions for improvement and methods.
Keywords：Quadrotor UAV； Dynamic model； The PID control

目录
摘要 I
ABSTRACT II
第一章 绪论 3
1.1 研究背景与意义 3
1.2 国内外研究现状 4
1.3 发展趋势 5
1.4 关键技术解析 6
1.5 研究目的及意义 7
第二章 四旋翼飞行器硬件结构 9
2.1 四旋翼飞行器介绍 9
2.2 四旋翼飞行器的结构形式和工作原理 10
2.2.1 结构形式 10
2.2.2 工作原理 11
2.3 旋翼空气动力学 13
2.4 机身设计 15
2.4.1 材料选择与加工方法 16
2.4.2 控制电路设计 19
2.5 主控制器选型及电路连接 20
2.5.3 航姿参考系统的硬件电路设计 22
第三章 四旋翼飞行器动力学模型 24
3.1 常用坐标系 24
3.2 四旋翼直升机动力学方程 24
3.3 动力学方程的建立 26
3.4 四旋翼无人飞行器建模 30
3.4.1 建立动力学模型必要性 30
3.4.2 旋翼无人飞行器建模 30
第四章 四旋翼飞行器控制算法研究 36
4.1 仿真平台 36
4.2 PID控制原理 36
4.3 PID 控制算法 37
4.3.1 陀螺仪数据PI控制算法 37
4.3.2 PID控制算法 39
4.3.3 积分分离PID控制算法 40
4.4 控制算法仿真 43
4.4.1 PI 控制仿真 43
4.4.2 PID 控制仿真 45
第五章 总结 48
5.1 论文总结 48
5.2 展望 48
致谢 50
参考文献 51
毕业设计小结 54