野外航拍用四轴飞行器的设计  

Design of Quadcopter for Wild Aerial Photography

作　　者：张成 赵玫[1] 杨洪勇[1] 邓冠龙[1] 徐明铭[1] ZHANG Cheng;ZHAO Mei;YANG Hongyong;DENG Guanlong;Xu Mingming(School of Information and Electrical Engineering,Ludong University,Yantai 264039,China)

机构地区：[1]鲁东大学信息与电气工程学院,山东烟台264039

出　　处：《鲁东大学学报（自然科学版）》2018年第4期378-384,共7页Journal of Ludong University:Natural Science Edition

基　　金：山东省自然科学基金(ZR2018MF024);2017年地方高校国家级大学生创新创业训练计划项目(201710451192;201710451193)

摘　　要：四轴飞行器是一种新型的可垂直起降、飞行方式独特的小型无人机,具有姿态保持能力强、机动性好、结构简单等特点,适用于森林、山谷等野外环境的航拍.本文分析了四轴飞行器的飞行原理,并根据其动力学模型及功能要求,对系统机械结构和硬件电路进行了设计,如STM32最小系统、MPU 6050外围电路等;并在硬件架构的基础上设计了系统的控制算法和控制策略,包括双环串级PID姿态控制算法、防撞策略和抛飞识别策略等;最后对飞行器系统的图像传输距离、防撞成功率、抛飞识别率等多项指标进行了综合测试.实验结果表明,本文所设计的飞行器转向灵活,飞行稳定,能够在50 m内进行高质量图像传输并能有效防撞并准确识别抛飞状态,实现了野外航拍的基本要求.The quadcopter is a new type of small unmanned aerial vehicle with vertical take-off and landing and unique flight mode.It has the characteristics of strong posture retention,good maneuverability and simple structure.It is suitable for aerial photography in forests,valleys and other wild environments.Firstly,the flight principle of the quadcopter was analyzed,and the mechanical structure and hardware circuit of the system were designed in this paper according to its dynamic model and functional requirements,such as STM32 minimum system,MPU 6050 peripheral circuit,etc. Secondly,based on the hardware architecture,the control algorithm and control strategy of the system were designed,including double-loop cascade PID attitude control algorithm,anti-collision strategy and throwing recognition strategy. Finally,comprehensive tests were carried out on various indicators such as image transmission distance,collision avoidance success rate,and flying recognition rate of the aircraft system.The results show that the aircraft is flexible in steering,stable in flight,capable of high-quality image transmission within 50 meters and can effectively prevent collision and accurately identify the state of flying,and realize the basic requirements of aerial photography.

关 键 词：野外航拍 四轴飞行器 动力学模型 PID控制 

分 类 号：V221.8[航空宇航科学与技术—飞行器设计]