STM32基于PID算法的四旋翼导航系统设计+C程序

摘要：随着控制理论逐渐成熟和微处理器的性能的不断提高,本来难以实现稳定飞行的四旋翼飞行器又重新出现在人们的视野之中。本文在分析主流的四旋翼飞行控制和导航系统的基础上，设计了一款嵌入式四旋翼导航系统，可实现安全、半自主、稳定、易控的飞行操作。本设计采用STM32控制器作为导航微处理器，通过外围传感器信号处理和惯性导航相结合，模拟遥控PWM信号输出来控制飞行控制器，可做出定高悬停，自主飞行等动作，并能够通过软件，来切换遥控模式和自动飞行模式。43067

论文网关键词：STM32；PID算法；组合导航

Four Rotor Navigation System Design Based on PID

Algorithm

Abstract: Since twentieth Century, with the development of control theory, and the microprocessor is difficult to achieve stable control of the four rotor aircraft and

reappear in people's field of vision. This paper is based on the analysis of the mainstream of the four rotor navigation system on the market, the design of an embedded four rotor navigation system. To achieve the four rotor aircraft safety, semi autonomous, stable, easy to control the flight operation. In this paper, the design of STM32 controller is used as the navigation microprocessor. Through the peripheral sensor signal processing, make the emergency stop, autonomous flight, through the communication serial port and flight controller communication, realize the combination of navigation and inertial navigation control. Can through the software, to switch the remote control mode and automatic flight mode, to achieve take-off and landing autonomous flight, so that the controller is more easy to get started.

Key words: PID algorithm; STM32 ; Integrated navigation

摘要 1

1. 绪论 1

1.1 四旋翼飞行器的历史背景和发展现状 1

1.2 设计研究的任务 2

2. 四旋翼基本工作原理和结构介绍 3

2.1 四旋翼硬件总体设计 3

2.2 四旋翼姿态调整算法基本原理 4

3. HT-450飞行控制原理分析 5

3.1 恒拓飞控硬件基础介绍 5

3.2 姿态控制算法分析 6

3.3 飞行控制算法程序实现 7

4. 导航系统硬件设计 8

4.1 导航控制器介绍 8

4.2 电源模块 9

4.3 USB电路设计 11

4.4 超声波测距原理 11

4.5 US-100超声波测距模块 12

4.6 TSL1401线性传感器 12

5. 导航算法和C语言程序设计 13

5.1 PID算法设计 13

5.2 C语言程序实现 14

6. 四旋翼飞行器飞行试验 14

6.1 四旋翼飞行器的试飞步骤 15

6.2 四旋翼飞行器飞行控制参数的调试 16

7. 结束语和展望 16

参考文献 17

附录 18

致谢 STM32基于PID算法的四旋翼导航系统设计+C程序:http://www.751com.cn/zidonghua/lunwen_43732.html