【正文】 will introduce a scheme to make a quadrotor. The design used STM32F103C8T6 which worked with the newfashioned ARM CortexM3 micro processer as the control unit. In addition, a chip named MPU6050 was used to measure the attitude data of the quadrotor, and the wireless munication module named NRF24L01 to make the PC and the quadrotor municate well. Besides, a WFLY07 remote was used to control the quadrotor. We stated the flight theory, and the structure of the hardware and software in detail importantly, a PID controller was designed to control the attitude and made it really worked. Keywords： Quadrotor， STM32F103， MPU6050， Attitude calculation， PID controller 湖南工業(yè)大學(xué)本科畢業(yè)設(shè)計（論文） III 目 錄 摘 要 ........................................................................................................................... I ABSTRACT .....................................................................................................................II 第一章 四旋翼飛行器概述 .................................................................................. 1 引言 ................................................................................................................... 1 四旋翼飛行器的國內(nèi)外研究現(xiàn)狀 ................................................................... 1 國外研究現(xiàn)狀 ........................................................................................ 1 國內(nèi)研究現(xiàn)狀 ........................................................................................ 2 設(shè)計意義及應(yīng)用前景 ....................................................................................... 3 第二章 四旋翼飛行器飛行原理 ......................................................................... 4 第三章 四旋翼飛行器常用部件及安裝 ........................................................... 6 四旋翼飛行器部件介紹 ................................................................................... 6 風(fēng)火輪 450 機架 .................................................................................... 6 新西達 2212 930kv 無刷電機 ............................................................... 6 新西達 30A 電子調(diào)速器 ....................................................................... 7 1045 正反漿 ............................................................................................ 8 2200mAh 30C 充電鋰電池 ........................................................ 9 飛行主控 stm32f103c8t6....................................................................... 9 慣性器件 MPU6050 ............................................................................ 10 天地飛 7 遙控器 .................................................................................. 11 天地飛 7 無線接收機 .......................................................................... 12 5V 穩(wěn)壓電路 ....................................................................................... 13 四旋翼飛行器的安裝 .................................................................................... 14 飛行器硬件連 接圖 .............................................................................. 14 x 模式和 +模式的區(qū)別 ......................................................................... 14 安裝事項 .............................................................................................. 15 第四章 四旋翼上位機及下位機 ....................................................................... 16 匿名上位機軟件平臺 ..................................................................................... 16 匿名上位機功能 .................................................................................. 16 匿名上位機通信協(xié)議 .......................................................................... 16 下位機程序模塊 ............................................................................................. 17 DMP 使用方法 ..................................................................................... 17 湖南工業(yè)大學(xué)本科畢業(yè)設(shè)計（論文） IV NRF24L01 無線通信 ........................................................................... 18 無線接收機解碼程序 .......................................................................... 18 電調(diào)驅(qū)動程序 ...................................................................................... 19 姿態(tài)解算程序 ...................................................................................... 19 PID 控制器程序 ................................................................................... 20 第五章 四旋翼飛行器姿態(tài)解算 ....................................................................... 21 捷聯(lián)式慣性導(dǎo)航系統(tǒng)介紹 ............................................................................ 21 姿態(tài)解算 ........................................................................................................ 22 第六章 四旋翼飛行器 PID 控制器設(shè)計 ......................................................... 23 PID 控制器介紹 ............................................................................................. 23 PID 控制思想 ................................................................................................. 24 PID 控制器程序?qū)崿F(xiàn) ..................................................................................... 24 PID 控制器參數(shù)整定 ..................................................................................... 25 第七章 結(jié)論及存在的問題 ................................................................................ 27 第八章 心得體會 ................................................................................................... 28 參考文獻 ................................................................................................................... 29 致謝 ............................................................................................................................ 30 附錄 ............................................................................................................................ 31 湖南工業(yè)大學(xué)本科畢業(yè)設(shè)計（論文） 1 第一章 四旋翼飛行器概述 引言 目前國內(nèi)外對飛行器的研究主要包括三種：固定翼、旋翼及撲翼式，四旋翼飛行器在布局形式上屬于旋翼式的一種。 四旋翼飛行器是一種具有四個對稱旋翼的直升機，結(jié)構(gòu)簡單，機動性強，飛行靈活，可垂直起降 ，懸停甚至完成一些高難度飛行動作。它所具備的優(yōu)越性能，使其應(yīng)用前景十分廣闊。國外早在上世紀(jì)初