【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)大學本科畢業(yè)設計（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 國內外研究現狀 ................................................................................................ 2 四旋翼無人機的研究現狀 ......................................................................... 3 六旋翼無人機的研究現狀 ......................................................................... 4 六旋翼控制理論研究現狀 ......................................................................... 6 本文主要研究內容 ............................................................................................ 6 第 2 章 六旋翼無人機數學模型的建立 ................................. 8 六旋翼無人機飛行機理分析 ............................................................................ 8 坐標系定義 ................................................................................................. 8 四種基本運動 ............................................................................................. 9 六旋翼無人機機體結構設計 .......................................................................... 10 機架選型 ................................................................................................... 10 動力系統(tǒng)設計 ........................................................................................... 11 運動方程的推導 .............................................................................................. 11 本章小結 .......................................................................................................... 16 第 3 章 六旋翼無人機硬件設計 ...................................... 17 總體方案 .......................................................................................................... 17 無線通訊鏈路 ........................................................................................... 17 傳感器系統(tǒng) ............................................................................................... 18 執(zhí)行器與數據保存 ................................................................................... 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 飛行控制硬件設計 .......................................................................................... 20 主控制器選型 ........................................................................................... 20 電源、通訊接口設計 ............................................................................... 21 數據存儲設計 ........................................................................................... 21 VIII 第 4 章 哈爾濱工業(yè)大學本科畢業(yè)設計（論文） 本章小結 .......................................................................................................... 22 六旋翼無人機控制算法設計 .................................. 23 總體控制結構 .................................................................................................. 23 姿態(tài)控制 .......................................................................................................... 24 姿態(tài)傳感器的減震與濾波 ....................................................................... 24 姿態(tài)控制器結構 ....................................................................................... 28 轉速分配策略 ........................................................................................... 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的融合算法 ....................................................... 34 高度控制器結構 ....................................................................................... 37 第 5 章 位置控制 .......................................................................................................... 37 本章小結 .......................................................................................................... 38 六旋翼無人機飛控軟件設計與飛行試驗 ........................ 39 飛控軟件設計 .................................................................................................. 39 飛控軟件功能設計 ................................................................................... 39 飛控軟件總體架構 ................................................................................... 40 實時性與可靠性設計 ............................................................................... 40 飛行試驗 .......................................................................................................... 41 懸停測試 ................................................................................................... 42 抗干擾能力測試 ..................................................