【正文】 was conducted to prove the effectiveness of the fusion method. An optimized thrust distribution method was also introduced to maintain the robustness of the system. Some technology was also introduced to keep the realtime performance and reliability of the control software. Finally, some flight experiments were introduced to prove the performance of the controller: hovering test for the controller accuracy, antiinterference for controller stability, signaltracking experiment for controller tracking capability and vision based target tracking for the overall system performance. Keywords: Hexrotor, PID, Multiloop, Datafusion 哈爾濱工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)（論文） 目 錄 摘 要 .......................................................... VI Abstract ......................................................... VII 第 1 章 緒論 ....................................................... 1 論文研究的目的與意義 .................................................................................... 1 國(guó)內(nèi)外研究現(xiàn)狀 ................................................................................................ 2 四旋翼無(wú)人機(jī)的研究現(xiàn)狀 ......................................................................... 3 六旋翼無(wú)人機(jī)的研究現(xiàn)狀 ......................................................................... 4 六旋翼控制理論研究現(xiàn)狀 ......................................................................... 6 本文主要研究?jī)?nèi)容 ............................................................................................ 6 第 2 章 六旋翼無(wú)人機(jī)數(shù)學(xué)模型的建立 ................................. 8 六旋翼無(wú)人機(jī)飛行機(jī)理分析 ............................................................................ 8 坐標(biāo)系定義 ................................................................................................. 8 四種基本運(yùn)動(dòng) ............................................................................................. 9 六旋翼無(wú)人機(jī)機(jī)體結(jié)構(gòu)設(shè)計(jì) .......................................................................... 10 機(jī)架選型 ................................................................................................... 10 動(dòng)力系統(tǒng)設(shè)計(jì) ........................................................................................... 11 運(yùn)動(dòng)方程的推導(dǎo) .............................................................................................. 11 本章小結(jié) .......................................................................................................... 16 第 3 章 六旋翼無(wú)人機(jī)硬件設(shè)計(jì) ...................................... 17 總體方案 .......................................................................................................... 17 無(wú)線(xiàn)通訊鏈路 ........................................................................................... 17 傳感器系統(tǒng) ............................................................................................... 18 執(zhí)行器與數(shù)據(jù)保存 ................................................................................... 18 傳感器系統(tǒng) ...................................................................................................... 19 姿態(tài)傳感器 ............................................................................................... 19 高度傳感器 ............................................................................................... 19 位置傳感器 ............................................................................................... 20 飛行控制硬件設(shè)計(jì) .......................................................................................... 20 主控制器選型 ........................................................................................... 20 電源、通訊接口設(shè)計(jì) ............................................................................... 21 數(shù)據(jù)存儲(chǔ)設(shè)計(jì) ........................................................................................... 21 VIII 第 4 章 哈爾濱工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)（論文） 本章小結(jié) .......................................................................................................... 22 六旋翼無(wú)人機(jī)控制算法設(shè)計(jì) .................................. 23 總體控制結(jié)構(gòu) .................................................................................................. 23 姿態(tài)控制 .......................................................................................................... 24 姿態(tài)傳感器的減震與濾波 ....................................................................... 24 姿態(tài)控制器結(jié)構(gòu) ....................................................................................... 28 轉(zhuǎn)速分配策略 ........................................................................................... 28 高度控制 .......................................................................................................... 31 超聲傳感器的濾波 ................................................................................... 31 高度傳感器與加速度計(jì)的融合算法 ....................................................... 34 高度控制器結(jié)構(gòu) ....................................................................................... 37 第 5 章 位置控制 .......................................................................................................... 37 本章小結(jié) .......................................................................................................... 38 六旋翼無(wú)人機(jī)飛控軟件設(shè)計(jì)與飛行試驗(yàn) ........................ 39 飛控軟件設(shè)計(jì) .................................................................................................. 39 飛控軟件功能設(shè)計(jì) ................................................................................... 39 飛控軟件總體架構(gòu) ................................................................................... 40 實(shí)時(shí)性與可靠性設(shè)計(jì) ............................................................................... 40 飛行試驗(yàn) .......................................................................................................... 41 懸停測(cè)試 ................................................................................................... 42 抗干擾能力測(cè)試 ..................................................