【正文】 摘要 Ⅰ 摘 要 四旋翼飛行器是一種四螺旋槳驅(qū)動的、可垂直起降的飛行器，這種結(jié)構(gòu)被廣泛用于微小型無人飛行器的設計，可以應用到航拍、考古、邊境巡邏、反恐偵查等多個領(lǐng)域，具有重要的軍用和民用價值。四旋翼飛行器同時也具有欠驅(qū)動、多變量、強耦合、非線性和不確定等復雜特性，對其建模和控制是當今控制領(lǐng)域的難點和熱點話題。 本次設計對小型四旋翼無人直升機的研究現(xiàn)狀進行了細致、廣泛的調(diào)研，綜述了其主要分類、研究領(lǐng)域、關(guān)鍵技術(shù)和應用前景，然后針對圓點博士的四旋翼飛行器實際對象，對其建模方法和控制方案進行了初步的研究。 首先，針對四旋翼飛行器的動力學特性，根據(jù)歐拉定理以及牛頓定律建立四旋翼無人直升機的動力學模型，并且考慮了空氣阻力、轉(zhuǎn)動力矩對于槳葉的影響，建立了四旋翼飛行器的物理模型；根據(jù)實驗數(shù)據(jù)和反復推算，建立系統(tǒng)的仿真狀態(tài)方程；在 Matlab 環(huán)境下搭建了四旋翼飛行器的非線性模型。選取四旋翼飛行器的姿態(tài)角作為控制對象，借助 Matlab 模糊工具箱設計了模糊 PID 控制器并依據(jù)專家經(jīng)驗編輯了相應的模糊規(guī)則；通過仿真和實時控制驗證了控制方案的有效性，并在此控制方案下采集到了輸入輸出數(shù)據(jù)；利用單片機編寫模糊 PID 算法控制程序 ，實現(xiàn)對圓點博士四旋翼飛行器實物的姿態(tài)控制。本設計同時進行了 Matlab 仿真和實物控制設計，利用模糊 PID 算法，穩(wěn)定有效的對四旋翼飛行器的姿態(tài)進行了控制。 關(guān)鍵詞： 四旋翼飛行器；模糊 PID；姿態(tài)控制 目錄 Ⅱ Abstract Quadrotor UAV is a four propeller driven, vertical takeoff and landing aircraft, this structure is widely used in micro mini unmanned aerial vehicle design and can be applied to multiple areas of aerial, archaeology, border patrol, antiterrorism investigation, has important military and civil UAV is a plicated characteristic of the plicated characteristics such as the less drive, the multi variable, the strong coupling, the nonlinear and the uncertainty, and the difficulty and the hot topic in the control field. Research status of the design of small quadrotor UAV were detailed and extensive research, summarized the main classification, research areas, key technology and application prospect of and according to Dr. dot quadrotor actual object, the modeling method and control scheme were preliminary study. First, for the dynamic characteristics of quadrotor UAV, dynamic model of quadrotor UAV is established according to the theorem of Euler and Newton39。s laws, and consider the air resistance and rotation torque for the effects of blade, the establishment of the physical model of the quadrotor UAV。 root according to experimental data and repeated calculation, the establishment of system simulation equation of state。 under the MATLAB environment built the nonlinear model of the quadrotor UAV Select the attitude of the quadrotor angle as the control object, with the help of matlab fuzzy toolbox to design the fuzzy PID controller and according to experience of experts to edit the corresponding fuzzy rules。 through the simulation and realtime control verify the effectiveness of the control scheme, and this control scheme under the collection to the data input and output。 written by SCM fuzzy PID control algorithm, dots, Quad rotor UAV real attitude control. The design of the Matlab simulation and the physical control design, the use of fuzzy PID algorithm, the stability of the four rotor aircraft attitude control. Keywords:Quadrotor UAV。Fuzzy PID。Attitude control 目錄 目 錄 摘要（中文） ........................................................................................................................... Ⅰ 摘要（英文） ........................................................................................................................... Ⅱ 第一章 概述 .............................................................................................................................. 1 課題背景及意義 ............................................................................................................................. 1 四旋翼飛行器的研究現(xiàn)狀 ............................................................................................................... 2 四旋翼飛行器的關(guān)鍵技術(shù) ............................................................................................................... 5 數(shù)學模型 ................................................................................................................................ 6 控制算法 ................................................................................................................................ 6 電子技術(shù) ................................................................................................................................ 6 動力與能源問題 .................................................................................................................... 6 本文主要內(nèi)容 ................................................................................................................................... 6 本章小結(jié) ........................................................................................................................................... 7 第二章 四旋翼飛行器的運動原理及數(shù)學模型 ...................................................................... 7 四旋翼飛行器簡介 ............................................................................................................................ 7 四旋翼飛行器的運動原理 ............................................................................................................. 8 四旋翼飛行器高度控制 ........................................................................................................ 8 四旋翼飛行器俯仰角控制 .................................................................................................... 9 四旋翼飛行器橫滾角控制 .................................................................................................... 9 四旋翼飛行器偏 航角控制 .................................................................................................. 10 四旋翼飛行器的數(shù)學模型 .............................................................................................................. 11 坐標系建立 ........................................................................................................................... 11 基于牛頓 歐拉公式的四旋翼飛行器動力學模型 .............................................................. 12 本章小結(jié) ........................................................................................................................................ 15 第三章 四旋翼飛行器姿態(tài)控制算法研究 ....................................