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[摘要] 本文对微型四旋翼飞行器自平衡算法进行研究，详细分析了应用互补滤波器，进行信号处理的思路和参数整定过程，应用滤波后的数据，进行飞行器姿态角度融合，解算出飞行器实时的俯仰角、翻滚角、偏航角。在解算出飞行姿态角度的基础上应用PID算法控制四旋翼飞行器进行自平衡悬停及相关的运动姿态控制。硬件上，采用STM32F103作为微控制器，以MPU6050作为四旋翼飞行器姿态传感器件，通过AO3402MOS管驱动四个空心杯电机改变飞行器姿态，设计结果是能准确测量飞行器姿态并将测量角度输出给相应坐标的电机，进行姿态调整。本文将从硬件、软件初始化、控制算法及调试等几个篇幅详细展示整个微型四旋翼飞行器的制作过程。 [关键词] 微型四旋翼飞行器；互补滤波算法；PD控制算法；STM32F103;自平衡

Abstract: This paper is a research about algorithm of Quadrotor Micro-aircraft Self-balancing. It will detailed analysis the idea about using Complementary filter deal with the digital signals and the basis of flying-Angle using PID algorithm controlling Quadrotor Micro-aircraft achieves the self-balancing control. Hardware uses STM32F103 as micro controller, with MPU6050 as attitude sensor of Quadrotor Micro-aircraft, through AO3402MOS tube driving four result can accurately measure spacecraft attitude and output the measuring Angle to the corresponding coordinates of the motor and realize the attitude adjustment. This article will show the whole production process of the Quadrotor Micro-aircraft in detail from the , control algorithm, debug and so on.

Key words: Micro four rotor aircraft;Complementary filter;PD control algorithm; STM32F103; Self-balancing

目 录

1 绪 论 ............................................................................................................................

1.1 本课题的研究意义及必要性 ............................................................................

1.2 相关领域国内外研究现状及发展趋势 ............................................................

1.3论文篇幅简介 .....................................................................................................

2 四旋翼飞行器系统分析 ...............................................................................................

2.1系统基本原理 .....................................................................................................

2.2系统功能要求 .....................................................................................................

2.3 系统可行性分析 ................................................................................................

3 四旋翼飞行器总体设计 ...............................................................................................

3.1 功能模块划分 ....................................................................................................

3.2 系统模块设计图 ................................................................................................

3.3 系统流程图.........................................................................................................

3.4 开发工具和开发框架介绍 ................................................................................

3.4.1 Altium Designer 6.9介绍 ........................................................................

3.4.2 Keil for ARM介绍 ..................................................................................

3.4.3 Serial_Digital_Scope V2介绍 ................................................................

4 四旋翼飞行器详细方案设计 .......................................................................................

4.1 硬件模块的功能及设计 ....................................................................................

4.1.1 最小系统板STM32F103模块 ..............................................................

4.1.2 低压差电源模块 .....................................................................................

4.1.3 倾角传感器模块 .....................................................................................

4.1.4 空心杯电机驱动模块 .............................................................................

4.1.5 NRF24L01无线模块 ...............................................................................