【正文】 .......... 5 系統(tǒng)硬件電路設(shè)計(jì)方案 ........................................................................ 5 各部分功能作用 .................................................................................... 6 系統(tǒng)軟件設(shè)計(jì)方案 ................................................................................ 7 第 3章 系統(tǒng)硬件電路設(shè)計(jì) ............................................................................................ 8 Altium Designer Summer 09 簡(jiǎn)介 ..................................................................... 8 總體電路設(shè)計(jì) ................................................................................................... 8 遙控器總體電路設(shè)計(jì) ............................................................................ 8 飛行器總體電路設(shè)計(jì) .......................................................................... 10 各部分電路設(shè)計(jì) ............................................................................................. 10 電源電路設(shè)計(jì) ...................................................................................... 10 主控單元電路 設(shè)計(jì) .............................................................................. 12 無線通信模塊電路設(shè)計(jì) ...................................................................... 13 慣性測(cè)量單元電路設(shè)計(jì) ...................................................................... 16 電機(jī)驅(qū)動(dòng)電路設(shè)計(jì) .............................................................................. 18 串口調(diào)試電路設(shè)計(jì) .............................................................................. 19 PCB設(shè)計(jì) .......................................................................................................... 21 PCB設(shè)計(jì)技巧規(guī)則 ............................................................................... 21 PCB設(shè)計(jì)步驟 ....................................................................................... 22 PCB外形設(shè)計(jì) ....................................................................................... 23 實(shí)物介紹 ......................................................................................................... 25 第 4章 系統(tǒng)軟件設(shè)計(jì) .................................................................................................. 27 Keil ......................................................................................... 27 Keil MDK概述 ..................................................................................... 27 Keil MDK功能特點(diǎn) ............................................................................. 27 軟件設(shè)計(jì)框圖 ................................................................................................. 28 軟件調(diào)試仿真 ................................................................................................. 29 飛控軟件設(shè)計(jì) ................................................................................................. 30 MPU6050數(shù)據(jù)讀取 .............................................................................. 30 姿態(tài)計(jì)算 IMU ..................................................................................... 32 PID電機(jī)控制 ........................................................................................ 32 結(jié) 論 .............................................................................................................................. 36 致 謝 .............................................................................................................................. 38 參考文獻(xiàn) ........................................................................................................................ 39 附錄 1 遙控器主程序源代碼 ....................................................................................... 40 附錄 2 飛行器主程序源代碼 ....................................................................................... 45 附錄 3 遙控 器原理圖 ................................................................................................... 50 附錄 4 飛行器原理圖 ................................................................................................... 51 I 摘 要 四軸飛行器具備 VTOL(Vertical TakeOff and Landing，垂直起降 )飛行器的所有優(yōu)點(diǎn)，又具備無人機(jī)的造價(jià)低、可重復(fù)性強(qiáng)以及事故代價(jià)低等特點(diǎn)，具有廣闊的應(yīng)用前景?？蓱?yīng)用于軍事上的地面戰(zhàn)場(chǎng)偵察和監(jiān)視，獲取不易獲取的情報(bào)。在民用方面可用于災(zāi)后搜救、城市交通巡邏與目標(biāo)跟蹤等諸多方面。 本設(shè)計(jì)主要包括遙控器和飛行器兩大部分， 其 中央處理 器 CPU 均采用 基于32位 ARM CorexM3 內(nèi)核的 NXP LPC1549，時(shí)鐘頻率為 72MHz；飛行器與遙控器之間的無線通信采用 通信頻段的 NRF24L01 模塊， NRF24L01 模塊與MCU 之間通過 SPI 協(xié)議以 1MHz的通信速率通信；飛行器端搭載有 3 軸加速度計(jì)與三軸陀螺儀融合一體的 MPU6050 慣性測(cè)量單元作為姿態(tài)歐拉角測(cè)量單元，MPU6050與飛行器 MCU之間通過 I2C協(xié)議以 400Hz的頻率進(jìn)行通信；飛行器端MCU通過 接收無線數(shù)據(jù)以及 采集 MPU6050數(shù)據(jù)通過四元數(shù)互補(bǔ)濾波計(jì)算 出的歐拉角，再 進(jìn)行電機(jī) PID自動(dòng)控制 ， 最終以 20KHz的 PWM通過 MOS管 來驅(qū)動(dòng)空心杯 820直流有刷電機(jī)，得以實(shí)現(xiàn)遙控四軸飛行器的設(shè)計(jì)。s low cost strong, repeatable, and low accident costs, has broad application prospects. Can be used in military battlefield reconnaissance and surveillance, access is not easy to get information. Able to perform special tasks such as patrolling the no fly zone and close air support, could cope with modern electronic warfare, munications relay of modern warfare. In civil use can be used for postdisaster rescue, traffic patrol and tracking, and many other aspects of the city. Can be used in a safety inspection on the industrial, largescale chemical sites, highvoltage power lines, dams, bridges and artificial mountain after the earthquake are not easy to reach space. This design includes two remote controls and aircraft parts, central processing unit CPU using of 32ARM NXP CorexM3 kernel LPC1549,clock frequency is 72MHz。 Aircraft end carrying a 3axis accelerometer and integrating threeaxis gyro MPU6050 inertial measurement unit as a gesture of Euler angle measurement unit,MPU6050 aircraft between the MCU municates through the I2C Protocol with400Hz frequency。在實(shí)際應(yīng)用方面，以四軸飛行器為代表的小型無人機(jī)在執(zhí)行軍事任務(wù)時(shí)具有很大的優(yōu)勢(shì)。在民用與工業(yè)領(lǐng)域，四軸飛行器也具有廣泛的應(yīng)用前景。微型四軸無人飛行器可以自主完成上述任務(wù)，不僅節(jié)約成本，而且大大簡(jiǎn)化了人力勞動(dòng)，也在人類無法到達(dá)的危險(xiǎn)、危害環(huán)境可以完全代替人類工作。 吉林建筑大學(xué)學(xué)士學(xué)位論文 2 國內(nèi)外的發(fā)展情況 早在二戰(zhàn)時(shí)，載人四軸的原型機(jī)已經(jīng)被設(shè)計(jì)出來，但因?yàn)榭刂萍夹g(shù)還跟不上，飛行器因不穩(wěn)定而無法投入實(shí)際應(yīng)用。為了把這么重的東西放到一個(gè)多旋翼飛行器上，飛行器的載荷必須很大，可是人們發(fā)現(xiàn)，不管是用油機(jī)還是電機(jī)做多旋翼飛行器的動(dòng)力系統(tǒng)，都很難得到足夠的載荷。很長(zhǎng)一段時(shí)間里，只有美國一些研發(fā)性的項(xiàng)目做出了多旋翼飛行器的樣機(jī)。但是MEMS 傳感器數(shù)據(jù)噪音很大，不能直接讀出來用，于是人