基于STM32和OV2640的自主循迹四旋翼飞行器设计

本四旋翼自主飞行器采用STM32F407ARM芯片作为飞控主控制核心,硬件包括了飞行姿态采集模块、超声波测距模块、摄像头循迹模块、无刷电机驱动模块以及STM32F407摄像头数据处理模块等。飞行姿态处理由MPU-9150加速度计陀螺仪提供,实现了飞行器的平稳飞行。超声波测距模块和摄像头循迹模块为飞行器提供导航参数,使飞行器可以按照规定航线并以一定高度飞行。为了保证摄像头数据处理的实时性,本设计中增加了一片STM32F407芯片专门处理摄像头数据。通过姿态解算、PID控制算法、摄像头数据采集处理,使飞行器实现一键式起飞,定高跟着赛道线稳定飞行,最终平稳降落。通过多次测试,证明该基于双STM32芯片和OV2640的自主循迹四旋翼飞行器稳定、可靠。     

PID控制及图像识别的自主循迹四旋翼设计

本文四轴平台以STM32F407微控制器作为飞行控制的核心,硬件包括用于飞行姿态信息采集的MPU 9150九轴陀螺仪传感器,用于飞行器高度和航线图像信息采集的US 100超声波模块和配置了云台的OV7670摄像头模块,为四轴飞行高度和航线提供期望修正参数.另增加一片STM32F407芯片进行图像处理,提高图像采集的实时性和处理的快速性.通过姿态解算、PID控制以及结合图像实时处理来实现四轴的平稳飞行和自主循迹.     

微小型球形飞行器飞行控制系统设计

根据微小型球形飞行器的结构特点和工作原理,设计了一套基于ARM Cortex-M3 STM32F103RBT6微控制器的飞行控制系统,进行了主要模块的功能设计与性能分析,给出了研究结论与选型依据,还设计并完成了姿态传感器两轴转台实验和飞行器室内飞行试验;测试结果表明,该控制系统的姿态传感器姿态测量精度高,能够为飞行控制提供姿态参考信息;飞行器能够圆满实现空中悬停、低空机动等飞行动作,且空中飞行姿态稳定、实时、可靠;该飞行控制系统功能可靠、性能稳定,能够较好地满足微小型球形飞行器的飞行控制要求,具有一定的实用性与扩展性。     

基于STM32无人机的设计与实现

设计选用STM32开发板作为主控模块,主控芯片为STM32F103C8T6,运动处理传感器选用MPU6050,无线通信模块为ESP8266,软件开发选用Keil uVison4集成开发环境.通过STM32的UART2读取WIFI的输入油门和方向值,并将其与陀螺仪计算值进行比较进而对欧拉角度和旋转角速度修正,以得到稳定的飞行姿态.定时器输出四个PMW来控制四轴上的四个电机实现飞行的动作.为了提高运动姿态的精度,该设计将三轴加速度计结合陀螺仪6D0F模块采集的数据与MPU6050采集的数据进行校准,并采用串行PID算法来提高飞行的稳定性.经测试,飞行器能够平稳的起飞、悬停、垂直上升等动作,实现了对飞行器的各种飞行姿态的精确控制.     

基于四旋翼飞行器的巡线机器人设计

本文设计一种巡线机器人,可以检测电缆以及塔杆状态。以四旋翼飞行器为载体,由主控模块MSP432单片机、飞行位置测量模块(光流传感器、激光测距)、飞行速度调节模块F-30A(飞盈佳乐)无刷电子调速器、飞行姿态调整模块MPU650三轴陀螺仪、视觉处理模块Open MV、无刷电机、电源七部分组成来实现巡线机器人功能。本设计还采用姿态双闭环PID控制算法、高度双闭环PID控制算法、速度多闭环控制对飞行器姿态数据进行处理,与此同时,解算出PWM增减量,进而使飞行器更稳定运行。飞行器电源采用集成开关稳压块给主控模块供电,使其更加稳定高效。     

移动机器人多传感器信息融合测距系统设计

介绍了用于移动机器人运动导航的多传感器测距系统的硬件组成和数据融合方法.测距系统由超声波测距模块、红外测距模块和数据融合模块组成,超声波测距模块和红外测距模块分别检测机器人周围环境中障碍物的距离,数据融合模块则通过SMBus总线收集两个模块采集到的距离数据,并采用自适应加权数据融合算法对这些数据进行处理,以获得可信的距离信息.实验表明,所设计的测距系统可靠性高、配置灵活,能够满足机器人自主导航中的避障要求.     

基于嵌入式技术的无人机自主飞行系统

嵌入式控制器体积小、运算能力强大,可以快速完成无人机飞行姿态数据和航迹规划数据的相关处理与运算;无线数传可以实现飞行器地面指挥中心与机载控制平台的远距离数据传输;基于Kalman滤波器的数据融合算法,将多路传感器采集的数据进行整合,可有效地减小测量噪声幅值,同时避免了单个传感器累计误差的产生.基于以上三大模块搭建的无人机控制系统可以实现飞行器远距离自主飞行,且具备自主避障、航线规划、航拍视频回传等其他拓展功能.     

基于Arduino的智能清洁小车设计

近几年,随着智慧校园概念的出现,各所学校都加大了智慧校园建设力度,使校园更加智能化。此背景下,以Arduino微型控制器为核心,结合多种传感器,包括HC-SR04超声波测距模块、GY-33灰度颜色识别模块、红外对射循迹模块和六自由度舵机机械臂,设计一款智能实验室清洁小车。该小车具有避障、清洁和预定轨迹跟随功能,能够辅助实验室管理员完成实验室清洁工作,可节约大量人力、物力资源,具有一定的实用价值。     

基于ARM和Linux的路径记忆循迹小车?

针对智能小车在实际应用中的需要,设计了一种基于 ARM和 Linux的具有路径记忆循迹功能的智能小车。利用ARM和 Linux操作系统,实现了对智能小车的超声波避障模块、电机等的控制。利用电子罗盘,实现了小车在无黑线情况下精确转向;利用超声波测距避障以及 Linux文件系统建立和保存了智能小车运行的路径记忆库;通过读取记忆库的数据实现智能小车的循迹功能。结果表明,该设计方案可以很好地实现循迹功能并且对环境的适应性较强。     

六轴旋翼碟形飞行器控制系统软件设计及仿真研究

采用了控制不同电机转速组合的方法,对六轴旋翼碟形飞行器进行姿态控制,使六轴旋翼碟形飞行器在不同姿态下飞行时具有较好的性能;为了实现六轴旋翼碟形飞行器的飞行控制,对飞行器的控制系统进行了初步的设计,并且给出了控制系统软件设计流程图;同时以ProtuesISIS软件为基础建立了六轴旋翼碟形飞行器控制系统的仿真模型,并进行了仿真,仿真结果显示该控制系统能够满足六轴旋翼碟形飞行器起飞、悬停及降落等控制姿态的要求。     

飞机轮胎压力监控系统研究

飞机在跑道上降落瞬间由于受到较大冲击可能爆胎;针对这一问题,研究了飞机轮胎压力监控系统的总体结构,并分别阐述了系统各个模块的组成原理、具体功能;该系统采用传感器直接测量轮胎压力的方法,将压力信息编码调制,以设定的超高频(UHF)用无线的形式发送出去,压力信息最终显示在驾驶舱显示仪表上;系统可随时测定飞机上每个轮胎内部的实际压力,并可由机组人员给定放气指令在飞机降落前将压力泄放到一个合适的值;测试结果表明,该系统可以对轮胎压力进行精确控制,从而可以有效避免飞机降落爆胎事故的发生,提高飞机安全性.     

An experimental study of pilots' control characteristics for flight of an STOL aircraft in backside of drag curve at approach and landing.

In general, most vehicles can be modelled by a multi-variable system which has interactive variables. It can be clearly shown that there is an interactive response in an aircraft's velocity and altitude obtained by stick control and/or throttle control. In particular, if the flight conditions fall to backside of drag curve in the flight of an STOL aircraft at approach and landing then the ratio of drag variation to velocity change has a negative value (delta D/delta u less than 0) and the system of motion presents a non-minimum phase. Therefore, the interaction between velocity and altitude response becomes so complicated that it affects to pilot's control actions and it may be difficult to control the STOL aircraft at approach and landing. In this paper, experimental results of a pilot's ability to control the STOL aircraft are presented for a multi-variable manual control system using a fixed ground base simulator and the pilot's control ability is discussed for the flight of an STOL aircraft at backside of drag curve at approach and landing.     

Fuzzy Logic Based Approach to Design of Autonomous Landing System for Unmanned Aerial Vehicles

This paper is concerned with autonomous flight of UAVs and proposes a fuzzy logic based autonomous flight and landing system controller. Besides three fuzzy logic controllers which are developed for autonomous navigation for UAVs in a previous work as fuzzy logic based autonomous mission control blocks, three more fuzzy logic modules are developed under the main landing system for the control of the horizontal and the vertical positions of the aircraft against the runway under a TACAN (Tactical Air Navigation) approach. The performance of the fuzzy logic based controllers is evaluated using the standard configuration of MATLAB and the Aerosim Aeronautical Simulation Block Set which provides a complete set of tools for rapid development of 6 degree-of-freedom nonlinear generic manned/unmanned aerial vehicle models. Additionally, FlightGear Flight Simulator and GMS aircraft instruments are deployed in order to get visual outputs that aid the designer in evaluating the performance and the potential of the controllers. The simulated test flights on an Aerosonde indicate the capability of the approach in achieving the desired performance despite the simple design procedure.     

舰载机纵向容错着舰系统设计

通常发生的舰载机着舰事故中,大多数是由于舰载机纵向航迹控制不好导致的,而造成航迹控制性能下降的最主要因素是航母运动、舰尾流扰动和执行器故障.针对这些特殊情况,提出了一种容错控制方法,应用在纵向着舰系统中.首先采用基于非线性动态逆的滑模控制方法抑制舰尾流扰动影响,然后在此基础上,加入径向基神经网络,利用其对非线性项的万能逼近特性,来补偿执行器故障情况下造成的系统故障,进一步保证了舰载机对理想下滑道的精确跟踪,最后,加入不同类型的执行器故障对此方法进行测试.仿真结果表明,所设计的纵向容错着舰系统不仅具有较强的鲁棒性和容错能力,而且提高了舰载机着舰航迹控制精度.     

An experimental study of pilots' control characteristics for flight of an STOL aircraft in backside of drag curve at approach and landing

Abstract

In general, most vehicles can be modelled by a multi-variable system which has interactive variables. It can be clearly shown that there is an interactive response in an aircraft's velocity and altitude obtained by stick control and/or throttle control. In particular, if the flight conditions fall to backside of drag curve in the flight of an STOL aircraft at approach and landing then the ratio of drag variation to velocity change has a negative value (ΔD/Δu<0) and the system of motion presents a non-minimum phase. Therefore, the interaction between velocity and altitude response becomes so complicated that it affects to pilot's control actions and it may be difficult to control the STOL aircraft at approach and landing.

In this paper, experimental results of a pilot's ability to control the STOL aircraft are presented for a multi-variable manual control system using a fixed ground base simulator and the pilot's control ability is discussed for the flight of an STOL aircraft at backside of drag curve at approach and landing.     

多轮系防滑验证试验测控系统的设计与实现

在地面惯性试验台上进行刹车模拟试验,是目前国内外常用的测试机轮刹车系统功能与性能试验方法。充分地在地面对影响飞机刹车性能的问题进行验证和解决,使飞机机轮及刹车系统达到最理想的装机条件和工作状态,需要依靠先进的系统检测试验手段。针对此类问题,尤其是多起落架、多机轮配置的大型飞机刹车系统试验对于整个起落架性能及匹配性问题,开展了本系统的设计及验证工作。多轮系机轮刹车系统综合动力试验台验证及系统防滑试验具有系统监测控制、信息采集、数据解析、实时显示存储等功能,能直观地展示试验过程以及结果,进而全面验证大型飞机起降系统的综合性能。改良原来的多轮防滑刹车试验系统,完善并提供必要的试验条件,缩短了机轮试验研制周期,实现起落架、机轮、刹车系统集成的匹配性、协调性、安全性和可靠性测试,极大地降低了飞机试飞的风险和成本。     

A novel trajectory planning strategy for aircraft emergency landing using Gauss pseudospectral method

To improve the survivability during an emergency situation, an algorithm for aircraft forced landing trajectory planning is proposed. The method integrates damaged aircraft modelling and trajectory planning into an optimal control framework, in order to deal with the complex aircraft flight dynamics, a solving strategy based on Gauss pseudospetral method （GPM） is presented. A 3-DOF nonlinear mass-point model taking into account the wind is developed to approximate the aircraft flight dynamics after loss of thrust. The solution minimizes the forced landing duration, with respect to the constraints that translate the changed dynamics, flight envelope limitation and operational safety requirements. The GPM is used to convert the trajectory planning problem to a nonlinear programming problem （NLP）, which is solved by sequential quadratic programming algorithm. Simulation results show that the proposed algorithm can generate the minimum-time forced landing trajectory in event of engine-out with high efficiency and precision.     

基于某型雷达的着陆航迹纠偏监控研究

为了减少飞机着陆阶段的飞行事故,基于某型精密进场雷达设计了飞机着陆航迹纠偏监控设备;通过研究某型雷达的回波数据格式和传输要求,在Windows环境下,采用Microsoft Visual Studio 10.0开发工具,用C#语言开发了着陆航迹纠偏监控软件;该软件能实时、自动监控加入着陆航线的多批次飞机的着陆航迹数据,对超出安全着陆要求的飞机按不同着陆等级设置三类告警门限,在超限事件引发严重事故之前,实时提醒地面人员指挥引导飞机切入安全合适的下滑道进行着陆,解决了某型雷达完全依赖人工监视飞机着陆状态的缺陷;同时,软件可对雷达数据包进行实时采集和误差分析,以作为日常飞行训练质量的辅助分析手段和飞行事故的调查依据。     

飞机起落架半主动控制仿真研究

该文总结了飞机起落架的三种控制方法：被动控制,主动控制,半主动控制。传统的起落架控制方法不能使飞机很快的达到稳定,为了解决这一问题,该文分析了半主动控制的优点。建立起了半主动控制起落架的数学模型和线性状态控制方程,并根据现代控制理论分析被动控制起落架系统的稳定性和可控性。采用常规状态反馈的控制方法对起落架系统进行设计,得到了半主动控制器。最后通过仿真软件分别对被动控制和半主动控制的起落架模型进行了仿真分析。仿真结果表明：被动控制起落架有较强的振荡,系统稳定时间也较长。而半主动控制起落架能够有效的降低飞机冲击载荷和振动响应,使飞机很快达到稳定。     

Application Of H2/H∞ Technique To Aircraft Landing Control

The paper describes the automatic control of an aircraft in the longitudinal plane during landing, taking into account sensor errors and disturbances. Aircraft auto‐landing is achieved by combining H₂ and H_∞ control techniques, thereby obtaining a robust H₂/H_∞ controller. It provides good precision tracking and robust stability with respect to the uncertainties caused by different disturbances and noise‐type signals. The weights of the H₂ and H_∞ control techniques within the robust H₂/H_∞ controller are adjusted so that the aircraft accurately tracks the desired trajectory during the two main stages of the landing process. The theoretical results are validated by numerical simulations for the landing of a Boeing; the results are very good (Federal Aviation Administration accuracy requirements for Category III are met) and prove the robustness of the new auto‐landing system even in the presence of disturbances and sensor errors.