多旋翼自主飛行器(qì) （C題）
青島農業大學 王祥宇 官慶燦 董培培 指導教師：趙豔華
（由于電子(zǐ)文檔不兼容，符号和線路(lù)圖沒有顯示，詳情請查看附件）
摘要
本次的作(zuò)品主要由瑞薩提供的芯片R5F100LEA所構成。通過調節4個電機轉速改變旋翼轉速，改變升力的變化(huà)調整飛行器(qì)的姿态和位置。四旋翼的動力來源爲無刷直流電機，采用單邊PWM的控制方式實現電機的調速，采用三段式啓動方式實現電機的軟啓動。用紅外傳感器(qì)2Y0A02 F55爲四旋翼測定高度，采用OV7670攝像頭循迹使飛行器(qì)從A區到B區。通過對四旋翼工作(zuò)模式與控制參數的研究，得到相應的控制算(suàn)法，然後編程實現，模拟相應的飛行姿态。
關鍵詞：四旋翼飛行器(qì) R5F100LEA 航拍
abstract
The composition of this work mainly by Renesas chip provided by R5F100LEA. Four rotor aircraft power source is brushless dc motor, so for this class of brushless dc motor speed control system plays a decisive role on the performance of the aircraft.Four rotor aircraft with 2Y0A0 is set high, use ov7670 camera tracking make aircraft from area A to area B. Through the study of four rotor working mode and the control parameters, get the corresponding control algorithm, and then simulate the flight attitude.
Key words: four rotor aircraft R5F100LEA aerial
目錄
1、方案論證與比較·························································································1
1.1高度傳感器(qì)的論證與選擇·······································································1
1.2循迹時用到的傳感器(qì)的論證與選擇···························································1
系統理(lǐ)論分(fēn)析與計算(suàn)·················································································1
2.1控制理(lǐ)論的分(fēn)析···················································································1
2.1.1控制方式·····················································································1
2.1.2歐拉角算(suàn)法··················································································2
2.1.3PID算(suàn)法······················································································2
2.1.4四元數························································································2
2.1.5卡爾曼濾波··················································································3
系統設計································································································3
3.1總體設計····························································································3
3.2模塊設計····························································································4
3.2.1航拍模塊·····················································································4
3.2.2導航模塊·····················································································4
3.2.3姿态控制模塊···············································································5
3.2.4電磁鐵模塊··················································································5
軟件設計································································································5
4.1軟件總體流程圖·······················································································5
4.2定高模塊································································································6
4.3定點模塊································································································6
5、測試方案與測試結果·················································································7
5.1基本測試數據······················································································7
5.2基本要求的測試方案·············································································7
5.3發揮部分(fēn)的測試方案·············································································8
6、結語·······································································································8
參考文獻·····································································································8
附錄
多旋翼自主飛行器(qì) （C題）
1、方案論證與比較
1.1高度傳感器(qì)的論證與選擇
方案一(yī)：采用HC-SR04模塊進行超聲波測距，來控制飛行高度。其基本工作(zuò)原理(lǐ)爲采用IO觸發測距，給至少10us的高電平信号，模塊自動發送8個40khz的方波，自動檢測是否有信号返回，測試距離=（高電平持續的時間*聲速（340m/s））/2。
方案二：采用2Y0A02 F55紅外傳感器(qì)來控制飛行高度。由PSD集成組合，IRED和信号處理(lǐ)電路(lù)。各種物體反射率，對環境溫度和運行時間不易受到影響的距離檢測，同時還可作(zuò)爲接近傳感器(qì)，該款産品的距離測量範圍在20—150cm,是一(yī)款節能(néng)型傳感器(qì)。
相同功能(néng)的傳感器(qì)相比較，考慮其穩定性和節能(néng)型，所以最終選擇方案二2Y0A02 F55紅外傳感器(qì)來控制飛行高度。
1.2循迹時用到的傳感器(qì)的論證與選擇
方案一(yī)：采用E3JK-DS30M1漫反射光電開關實現四旋翼的循迹。它的特征是有效作(zuò)用距離是由目标的反射能(néng)力決定，由目标表面性質和顔色決定；較小的裝配開支，當開關由單個元件組成時，通常是可以達到粗定位的。
方案二：采用攝像頭模塊實現四旋翼的循迹。該模塊體積小、工作(zuò)電壓低(dī)，提供單片VGA攝像和影像處理(lǐ)器(qì)的所有功能(néng)。用戶可以完全控制圖像質量、數據格式和傳輸方式。還可以減少或消除光學或電子(zǐ)缺陷如(rú)固定圖案噪聲、拖尾等。
由于飛行器(qì)的載重能(néng)力有限，相比于方案一(yī)的粗定位功能(néng)，方案二體積小的優點更加凸顯，甚至還可消除光學或電子(zǐ)缺陷，因此最終選擇方案二實現四旋翼的循迹功能(néng)。
2、系統理(lǐ)論分(fēn)析與計算(suàn)
2.1控制理(lǐ)論的分(fēn)析
2.1.1控制方式
本次比賽的難點在于如(rú)何使飛行器(qì)在空中較好(hǎo)(hǎo)的實現平衡控制，然後使其進行巡線飛行和降落。所研究的四旋翼結構屬于X型分(fēn)布如(rú)圖1所示。