摘要：四轴飞行器是一个具有六个自由度和四个输入的欠驱动系统，具有不稳定和强耦合等特点，除了受自身机械结构和旋翼空气动力学影响外，也很容易受到外界的干扰。四轴飞行器使用搭载32位 STM32F427 Cortex M4处理器的Pixhawk飞行控制器控制四个电调调节四个电机的转速来达到调整飞行姿态的目的，飞行控制系统通过气压计、罗盘、加速度计等传感器获得该飞行器的姿态与高度信息，经过一定的控制算法调整4个电机的转速，实现对飞行姿态的稳定控制。除了通过遥控器手动操作，使用安装了Mission Planner软件的计算机也可以完成对飞行器的控制，更可以制定一系列飞行计划，完成巡航任务、自动飞行等要求。57616

毕业论文关键词： 四轴飞行器；无刷电机；Pixhawk飞控；Mission Planner；PID双闭环控制

Design of control system for four axis aircraft

Abstract: Four axle aircraft is an aircraft which has the underactuated system with six degrees of freedom and four input. And it has not stable and strong coupling characteristics, in addition to its mechanical structure and rotor aerodynamics effects, very easy by external interference. Four axis aircraft equipped with Pixhawk flight controller with 32 bit STM32F427 cortex M4 processor in order to control four electric regulating to adjust four motor's speed to achieve the purpose of flight attitude adjustment. Flight control system obtains attitude and height information through the pressure gauge, compass and accelerometer sensor. To achieve the stability of the flight attitude control, a control algorithm adjusts four motor's speed. In addition to manual operation by remote control, the use of Mission Planner software installed on the computer can also complete the control of the aircraft, but also to develop a series of flight plans to complete the mission of the cruise, automatic flight and other requirements.

Keywords:  Four axis aircraft; Brushless motor; Pixhawk flight controller; Mission Planner; Double closed loop control with PID regulator

 目  录

1 绪论 1

1.1 前言 1

1.2 课题背景及意义 1

1.3 国内外研究现状 1

2 硬件构成 2

2.1 无刷直流电机 2

2.1.1 四轴飞行器选择无刷电机的理由 2

2.1.2 内转子无刷直流电机的工作原理 3

2.1.3 外转子无刷直流电机的工作原理 4

2.1.4 换相与调速 5

2.2 螺旋桨 6

2.2.1 正反桨 6

2.2.2 直驱桨和慢速桨 6

2.2.3 螺旋桨的型号 7

2.3 机架 7

2.4 飞控 7

2.4.1 Pixhawk介绍 7

2.4.2 Pixhawk的FMU和IO指示灯 11

2.4.3 Pixhawk指示灯的含义 11

2.4.4 Pixhawk安全开关LED灯的含义 12

2.4.5 Pixhawk的外置设备3DR GPS+罗盘模块指示灯含义 12

2.5 遥控器 12

2.5.1 通道 12

2.5.2 日本手、美国手 12

3 四旋翼的控制系统设计