摘要本文设计了一种四旋翼的自主飞行器，可以实现一些包括自主飞行，图像采集的功能。随着社会的不断进步发展，各种传感器件的发展进步，处理器以及控制技术的进一步优化，自主飞行器逐渐走入民用行业，这次的四旋翼选取的核心ARM为STM32微控制器，姿态传感器采用了MPU6050，磁力计选取的是HMC5883L，图像传输模块的核心器件选取的是MK60DN512,光电传感器选取的是OV7620。因为本次设计的四旋翼飞行器功率较大，所以在电机上会采用三相无刷电机，在桨翼上的选择通常是大电机配小桨,小电机搭配大桨。一套完整的无人机系统会包括飞控系统以及地面站控制系统，飞控系统主要由稳定控制回路和制导控制回路组成。本文将会阐述成功设计出四旋翼飞行器的过程，包括其中器件的选取，以及电路的连接。43212

关键词  STM32  MK60 HMC5883L MPU6050 OV7620 

毕业论文设计说明书外文摘要

Title    Design and implementation of independent quad-rotor aircraft                                                                        

Abstract

This paper presents a quad-rotor aircraft, it can achieve some functions, like autonomous flight, and image capture. With the continuous developments of society and various sensors, and the optimization of the controls and Central Processing Unit, the quad-aircraft has been used in Civil industry more often than before. Moreover this quad-rotor selected STM32 microcontrollers as core ARM, attitude sensors using MPU6050, magnetometers selected a core device HMC5883L, image transmission module using MK60DN512, photoelectric sensor is selected OV7620. And the power of the quad-rotor is too large that our motor have to use a three-phase brushless motor. The principle of selecting the propellers are usually large motor with a small paddle, a small motor with a large paddle. A complete system including UAV flight control systems and ground station control system, flight control system the main control loop stability and guidance control circuit composed. This article will elaborate process successfully designed quad-rotor aircraft, select one of the device, and the connection circuit included.

Keywords  STM32  MK60 HMC5883L MPU6050 OV7620   

 目   次

1  引言 1

1.1 课题研究背景 1

1.2  国内外现状 2

1.3  论文主要工作 3

1.4  论文结构安排 3

2  四旋翼飞行器总体设计 5

2.1  飞行器结构组成 5

2.2  四旋翼飞行器飞行控制原理 6

2.3  四旋翼飞行器的地面测试与控制系统 10

3.四旋翼飞行器飞行控制设计 11

3.1  主飞控板设计 11

3.2  图像传输控制板的设计 21

4  四旋翼飞行器无刷电调电路设计 25

4.1  PWM的功能原理 26

4.2  无刷电调三相电路的设计 27

5. 系统组装与测试 28

5.1 PWM信号测试