【正文】 煙臺大學(xué)畢業(yè)論文（設(shè)計） [摘要 ] 本文對微型四旋翼飛行器自平衡算法進行研究，詳細(xì)分析了應(yīng)用互補濾波器，進行信號處理的思路和參數(shù)整定過程，應(yīng)用濾波后的數(shù)據(jù)，進行飛行器姿態(tài)角度融合，解算出飛行器實時的俯仰角、翻滾角、偏航角。在解算出飛行姿態(tài)角度的基礎(chǔ)上應(yīng)用 PID 算法控制四旋翼飛行器進行自平衡懸停及相關(guān)的運動姿態(tài)控制。硬件上，采用 STM32F103 作為微控制器，以 MPU6050 作為四旋翼飛行器姿態(tài)傳感器件，通過 AO3402MOS 管驅(qū)動四個空心杯電機改變飛行器姿態(tài)，設(shè)計結(jié)果是能準(zhǔn)確測量飛行器姿態(tài)并將測量角度輸出給相應(yīng)坐標(biāo)的電機，進行姿態(tài)調(diào) 整。本文將從硬件、軟件初始化、控制算法及調(diào)試等幾個篇幅詳細(xì)展示整個微型四旋翼飛行器的制作過程。 [關(guān)鍵詞 ] 微型四旋翼飛行器；互補濾波算法； PD 控制算法； STM32F103。自平衡 煙臺大學(xué)畢業(yè)論文（設(shè)計） Abstract: This paper is a research about algorithm of Quadrotor Microaircraft Selfbalancing. It will detailed analysis the idea about using Complementary filter deal with the digital signals and how to set the paramerers. Using the data after filtering for fusing of Quadrotor attitude Angle and calculating the Quadrotor Microaircraft Pitch angle, Roll angle and Yaw angle. On the basis of flyingAngle using PID algorithm controlling Quadrotor Microaircraft achieves the selfbalancing hovering and relating motion control. Hardware uses STM32F103 as micro controller, with MPU6050 as attitude sensor of Quadrotor Microaircraft, through AO3402MOS tube driving four hollow cup motor to change the spacecraft attitude. The design result can accurately measure spacecraft attitude and output the measuring Angle to the corresponding coordinates of the motor and realize the attitude adjustment. This article will show the whole production process of the Quadrotor Microaircraft in detail from the hardware, software, the initialization, control algorithm, debug and so on. Key words: Micro four rotor aircraft。Complementary filter。PD control algorithm。 STM32F103。 Selfbalancing 煙臺大學(xué)畢業(yè)論文（設(shè)計） 目 錄 1 緒 論 ................................................................................................................................. 1 本課題的研究意義及必要性 .................................................................................. 1 相關(guān)領(lǐng)域國內(nèi)外 研究 現(xiàn)狀及發(fā)展趨勢 .................................................................. 1 論文篇幅簡介 ........................................................................................................... 3 2 四旋翼飛行器系統(tǒng)分析 ..................................................................................................... 4 系統(tǒng)基本原理 ........................................................................................................... 4 系統(tǒng)功能要求 ........................................................................................................... 5 系統(tǒng)可行性分析 ...................................................................................................... 5 3 四旋翼飛行器總體設(shè)計 ..................................................................................................... 7 功能模塊劃分 .......................................................................................................... 7 系統(tǒng)模塊設(shè)計圖 ...................................................................................................... 7 系統(tǒng)流程圖 .............................................................................................................. 8 開發(fā)工具和開發(fā)框架介紹 ...................................................................................... 8 Altium Designer 介紹 .............................................................................. 8 Keil for ARM 介紹 ......................................................................................... 9 Serial_Digital_Scope V2 介紹 ....................................................................... 9 4 四旋翼飛行器 詳細(xì) 方案 設(shè)計 ........................................................................................... 10 硬件 模塊的功能 及設(shè)計 ........................................................................................ 10 最小系統(tǒng)板 STM32F103 模塊 ................................................................... 10 低壓差電源模塊 ......................................................................................... 11 傾角傳感器模塊 ......................................................................................... 11 空心杯電機驅(qū)動模塊 ................................................................................. 12 NRF24L01 無線模塊 ................................................................................... 12 驅(qū)動程序功能及設(shè)計 ............................................................................................ 13 最小系統(tǒng)板初始化 ..................................................................................... 13 MPU6050 初始化 ........................................................................................ 13 NRF24L01 初始化 ....................................................................................... 13 空心杯電機驅(qū)動初始化 ............................................................................. 14 5 四旋翼飛行器控制算法 實現(xiàn) ........................................................................................... 16 角度 及 角 速度數(shù)據(jù)處理算法 ................................................................................. 16 互補濾波器可行性分析 ............................................................................. 16 互補濾波器算法軟件實現(xiàn) ......................................................................... 17 姿態(tài)控制算法 ......................................................................................................... 17 PID 控制算法可行性分析 ........................................................................... 17 PID 控制算法軟件實現(xiàn) ............................................................................... 18 多維度控制量輸出融合算法 ..................................................................... 19 煙臺大學(xué)畢業(yè)論文（設(shè)計） 6 四旋翼飛行器 綜合 調(diào)試 ................................................................................................... 20 基本 功能 實現(xiàn) ......................................................................................................... 20 姿態(tài)角度數(shù)據(jù)采集功能 ............................................................................. 20 四旋翼飛行器遙控功能 ...........................