【作者】 王岩；

【导师】 罗晶；

【作者基本信息】 哈尔滨工业大学 ， 控制工程， 2013， 硕士

【摘要】 倾转四旋翼无人机是融合无人直升机和无人固定翼飞机特点的新型无人机，它兼具有可垂直起降、载重量大以及巡航速度高等优点，是极具发展潜力的新型无人机种。本文重点对倾转四旋翼无人机垂直起降阶段的控制系统进行了研究。首先确立了无人机垂直起降阶段的姿态和位置控制方案，采用经典力学理论对无人机进行了受力与力矩分析，建立了无人机垂直起降阶段的模型。并通过实体仿真与实验的方法确定了模型参数。其次，建立了倾转四旋翼无人机各个控制回路的结构框图，然后用经典控制理论对无人机控制律进行了设计，包括三个姿态角回路与三个位置回路。通过仿真分析，验证了控制律的设计满足系统设计要求。再次，设计了倾转四旋翼无人机控制系统的硬件结构、接口电路以及供电方案，对无人机系统的低功耗设计和电磁兼容设计进行了分析并给出了解决方案。在搭建好硬件平台后，在Keil编译器下对ADuCRF101微控制器进行编程，通过MEMS惯性元件和辅助传感器的反馈构建了闭环系统，实现了无人机位置和姿态的闭环控制。并借助ADuCRF101内置的无线射频收发器，实现了远程飞行数据回收功能。最后，利用Visual Basic编写了无人机系统调试与监控界面，实现了对飞行控制参数的在线调节以及对飞行数据进行回收显示的功能。并对执行机构和传感器进行了调试与校准，完成了倾转四旋翼无人机的飞行试验。试验结果表明无人机可以稳定地实现垂直起降，验证了控制律和软硬件平台设计的有效性。更多还原

【Abstract】 Quad tilt rotor UAV, which possesses the advantages of both unmanned helicoptersand unmanned fixed-wing aircraft, is a new type of UAV with large carrying capacity aswell as high cruising speed.This thesis is focused on the control system design for vertical takeoff and landingstage of quad tilt rotor UAV. Firstly, the attitude and position control scheme isestablished for this stage, then the model during this state is set up using classicmechanics methods and its parameters are determined with systematic identificationprocedures.Secondly, the block diagrams are built for each control loop of quad tilt rotor UAV.Then the classical control methods are adopted to design three attitude angle andposition loops for UAV system. The simulation results verify the effectiveness of thedesigned control law.Moreover, the detailed configurations of the hardware structure, interface circuitand power supply scheme of quad tilt rotor UAV control system are designed. Thelow-power design and electromagnetic compatibility design are also analyzed. Afterbuilding the hardware platform, ADuCRF101microcontroller is programmed with Keilcompiler. The closed-loop control of position and attitude is achieved by receiving thefeedback measurement of MEMS inertial components and auxiliary sensors. And thewirelessly communication function is implemented through the integrated RFtransceiver within ADuCRF101.Finally, by building the UAV system debugging and monitoring interface withVisual Basic, the real-time regulation and display of both flight control parameters andclose-loop data are achieved. With careful debugging and calibration of actuators andsensors, the flight experiment of quad tilt rotor UAV is successfully carried out. Thetested results show that the UAV can perform stable vertical takeoff and landingfunction, which proves the effectiveness of both the designed control law andhardware/software configurations.更多还原