目录摘要....................................................................IABSTRACT................................................................II第1章绪论..............................................................11.1前言..............................................................11.2本课题研究意义....................................................11.3国内外研究成果....................................................21.4本课题主要研究内容................................................21.4.1研究主要内容................................................21.4.2研究方案....................................................31.5系统设计框图......................................................3第2章四轴飞行器硬件组成................................................52.1DIY四轴飞行器介绍................................................52.1.1四轴飞行器..................................................52.1.2DIY操作.....................................................52.2部分器件的作用介绍................................................62.2.1无刷直流电机................................................62.2.2电子调速器..................................................6第3章姿态传感器介绍....................................................73.1三轴加速度计......................................................73.1.1传感器原理..................................................73.1.2ADXL345.....................................................83.2三轴陀螺仪........................................................93.2.1概述........................................................93.2.2传感器原理..................................................93.2.3ITG-3200...................................................103.3三轴磁场传感器...................................................103.3.1传感器原理.................................................113.4本章小结.........................................................11第4章飞行器模型分析...................................................134.1概述.............................................................134.1.1飞行器飞行原理.............................................134.1.2四轴飞行器模型建立办法.....................................134.2力或力矩与螺旋桨的关系...........................................144.2.1升力和扭矩关系.............................................144.2.2阻力和侧向力矩的关系.......................................154.2.3的建立....................................16第5章算法设计.........................................................195.1悬停控制算法设计.................................................195.1.1悬停算法分析...............................................195.1.2PID算法选择分析............................................2025.1.3PID三个参数的大小对于响应波形的影响........................215.1.4模糊控制规则的建立.........................................215.1.5模糊控制表的建立...........................................225.1.6小结.......................................................225.2运动算法设计.....................................................225.2.1运动时和悬停时的差别.......................................225.2.2Z轴旋转解决办法设计........................................235.2.3固定倾斜解决办法...........................................235.2.4控制算法小结...............................................245.3...
