论文总字数：22068字

摘 要

ABSTRACT II

第一章 绪论 1

1.1课题背景及研究意义 1

1.2国内外的研究与发展现状 2

1.2.1四旋翼飞行器的国外研究现状 2

1.2.2四旋翼飞行器的国内研究现状 2

1.3课题的主要研究内容 3

第二章 四旋翼无人机的飞行原理 4

第三章 四旋翼硬件系统设计 6

3.1硬件系统总体设计 6

3.2硬件系统模块选择 7

3.3领航者开发板 7

3.4遥控通讯模块 9

3.4.1遥控模块 9

3.4.2通讯模块 11

3.5传感器模块 12

3.5.1光流传感器 12

3.5.2超声波传感器 12

3.6电机驱动模块 13

3.7电源模块 13

第四章 四旋翼软件系统设计与功能测试 15

4.1软件系统总体设计 15

4.2任务调度模块 15

4.3遥控及通讯模块 17

4.3.1遥控模块 17

4.3.2无线通讯模块 17

4.4姿态控制 18

4.4.1姿态解算 18

4.4.2互补滤波 21

4.4.3姿态控制 23

4.5定高控制 25

4.5.1高度数据融合 25

4.5.2定高控制 26

4.6定位控制 27

4.7电机驱动模块 28

4.8系统功能测试 29

4.8.1实验平台的准备与调试 29

4.8.2飞行测试 30

第五章 总结与展望 34

5.1总结 34

5.2展望 34

参考文献 35

致谢 37

基于STM32的四旋翼飞行控制器设计

摘要

四旋翼飞行器主要功能是感知飞行器当前的运动姿态，然后根据无线遥控信号数据，通过机体自身的思考和判断来分别控制四个电机的转速，最终实现对四旋翼飞行姿态的调整。同时可以在实现此基本功能的基础上，添加光流，超声波等模块，实现定高，定位等功能。四旋翼是无人飞行器圈子中一个热门的研究分支。随着惯性导航技术在智能化产品中的不断应用和惯性器件性能以及制造工艺水平的提高，四旋翼飞行器在近些年得到了快速的发展。

本课题的设计可以分为硬件设计和软件设计两部分，通过阅读毕业设计任务书，将系统分为电源，遥控通讯，电机驱动，传感器，主控制器模块。根据任务书本课题使用了STM32F407微控制器作为四旋翼飞行系统的核心，通过总线对其余四个模块进行通信与控制，进而构建出可以供软件下载，运行和调试的整体硬件平台。

本课题的软件设计使用Keil公司的uVision5进行C语言软件编程。程序的编写同样可以按照模块化的思想，划分成三个部分。第一部分为传感器数据获取与处理的程序；第二部分为四旋翼姿态与定高控制算法的程序；第三部分为电机驱动的程序。通过对四旋翼飞行器高度和姿态的实时检测，验证了多传感器在数据融合方面的可行性和准确性。最后，在实验室条件下成功地实现了四旋翼的姿态控制和稳定飞行。

关键词：四旋翼无人机 STM32F407 姿态解算 PID控制 数据融合

Design of Four-rotor Flight Controller Based on STM32

Abstract

The main function of the four-rotor aircraft is to sense the current attitude of the aircraft, and then according to the wireless remote control signal data, through the body's own thinking and judgment to control the speed of the four motors respectively, and finally adjust the four-rotor flight attitude. At the same time, on the basis of realizing this basic function, modules such as optical flow and ultrasonic wave can be added to achieve functions such as height setting and positioning. Quadrotor is a popular research branch in the UAV circle. With the continuous application of inertial navigation technology in intelligent products and the improvement of the performance of inertial devices and the level of manufacturing technology, the quadrotor aircraft has developed rapidly in recent years.

The design of this subject can be divided into two parts: hardware design and software design. By reading the graduation design task book, the system is divided into power supply, remote control communication, motor drive, sensor, and main controller module. According to the task book, the subject uses the STM32F407 microcontroller as the core of the four-rotor flight system, communicates and controls the remaining four modules through the bus, and then builds an overall hardware platform that can be downloaded, operated, and debugged.

The software design of this subject uses Keil's uVision5 for C language software programming. The writing of the program can also be divided into three parts according to the idea of modularization. The first part is the program of sensor data acquisition and processing; the second part is the program of the quadcopter attitude and altitude control algorithm; the third part is the program of the motor drive. Through the real-time detection of the height and attitude of the quadcopter, the feasibility and accuracy of multi-sensor data fusion is verified. Finally, under the conditions of the laboratory, the four-rotor attitude control and stable flight were successfully achieved.

Key Words: Quad-rotor UAV; STM32F407; Attitude solution; PID control; Data Fusion

1. 绪论

1.1课题背景及研究意义

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