## MATLAB四旋翼无人机的姿态自稳定控制算法研究

PID进行数据融合，从而达到姿态的实时稳定。运用MATLAB仿真、验证得到可靠的数据。最后设计四旋翼无人机，进行大量实际数据调试，成功完成试飞

Algorithm Four-rotor UAV Attitude From The Control
Abstract: The Four-rotor wing aircraft is the object in the paper. As its flight attitude is hard to reach self-stabilization, the attitude stabilization algorithm is proposed and tested. The Px4 is the control core of the flight system, and the Kalmar filter can compensate the data in the Hardware. The sensor circuit and the Non reversing motor are designed which coincide with the controller. Its flight Attitude can achieve the real-time stability. The data is obtained using MATLAB simulation in the paper. What’s more, the Four-rotor Unmanned Aerial Vehicle (UAV) is designed. Finally, it
can fly successful and to its flight attitude achieve the real-time stability.
Key  words: Four-rotor UAV; Flight control; PID; Quaternion

1 绪论    2
1.1 研究的背景    2
1.2 发展历史及国内外研究现状    2

1.3 课题研究内容及目标    3
2 四旋翼无人机的姿态控制原理及算法    4
2.1 四旋翼无人机姿态的控制原理    4
2.2  PID算法对四轴飞行器的姿态控制    4
2.3 四元数姿态矩阵解算理论    5
2.4 姿态角更新算法    9
2.5 四旋翼融合加速度计    10
3 四旋翼飞行器动力学建模    11
3.1 四旋翼控制系统仿真模型建立    11
3.2机体结构仿真    11
4 四旋翼飞行器处理系统及处理模块    12
4.1微处理器px4和最小系统    12
4.2四旋翼主控系统    12
4.3 四旋翼姿态解算    14
5 四旋翼无人机的设计和试调    17
5.1硬件设计    17
5.2 试调飞行    17
6 总结与展望    19
6.1总结    19
6.2展望    19

1 绪论
1.1 研究的背景

1.2 发展历史及国内外研究现状
1.发展历史

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