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Research Of A Cable Hexacopter Flight Controller System Based On DSP

Posted on:2017-01-29Degree:MasterType:Thesis
Country:ChinaCandidate:X HuangFull Text:PDF
GTID:2272330503960407Subject:Control theory and control engineering
Abstract/Summary:PDF Full Text Request
With the development of technology, the application of unmanned multi-rotor craft are more and more wider. Such drone’s energy comes from the limited capacity battery, so the flight time and loading ability is limited, and the application no more promotion. To solve the energy supply problem, this paper puts forward a method that use the flexible cable for ground power supply. This method can solve the problem of unmanned aerial vehicle(uav) and airborne electronic equipment power supply, so it can be used for continuous fixed-point monitoring, and recording the venue of the game, etc.Cable hexacopter flight control system is mainly composed of six rotor aircraft, the flexible cable, upper machine and cable automatic cassette player. In this paper, the flexible cable’s and the hexacopter’s nonlinear model are given. The double closed-loop flight controller is designed to the inner attitude loop and the outer position loop. Attitude controller using genetic optimization fuzzy global sliding mode control and position controller using genetic optimization of PID control. In the sliding mode control with fuzzy control, to reduce chattering in the system, the brushless dc motor speed change frequency is reduced, so the vibration of the body is relieved and it effectively prevents the mechanical structure from loose. Airborne inertial navigation system used the MEMS sensor module, including three-axis gyroscope, three-axis magnetometer, three-axis accelerometer and barometric altimeter. The characteristics of these sensors are introduced, and two methods for calculating spacecraft attitude angle are used. The two calculating results fusion using kalman filter algorithm to get more precise attitude Angle, and then to obtain precise navigation information. The hardware and software design of Cable hexacopter flight controller are based on TMS320F28335. The experiment is divided into static testing and dynamic testing. Static testing is testing attitude controller function, the results show that attitude Angle can track with given target Angle and the jitter of pitch Angle and roll Angle is bigger than the yaw Angle. Dynamic testing is testing position controller function, the results show that the uav can following with given location target, but the ability to resist the disturbance of the wind still needs to further strengthen.
Keywords/Search Tags:Cable hexacopter, TMS320F28335, FMSC, embedded system
PDF Full Text Request
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