摘要：近年来，微传感器与微处理器的发展，使得多旋翼无人飞行器再次成为研究的热点。相比于传统的固定翼飞行器与直升机，多旋翼飞行器具有飞行姿态灵活、机械结构简单、成本低、安全性高等特点，在很多领域都具有十分广阔的应用前景。

本文首先说明了多旋翼飞行器在国内外发展的现状，总结了多旋翼无人飞行器相对其他无人机的特点与优势，表明了六旋翼飞行器相较于其它多旋翼飞行器所具有的的优点。然而，研究可靠、高效、稳定的六旋翼飞行器飞控系统有相当的必要性。

本文首先选取了传统构型的六旋翼飞行器，分析了其飞行原理。然后针对其构型与飞行特性建立了它的非线性运动模型，再针对此模型建立了基于PID方法的姿态控制与位置控制回路。最后借助了Matlab/Simulink对该飞行器进行了数字化建模与仿真，验证了PID控制算法在六旋翼飞行器飞行控制中的有效性。

关键词  六旋翼飞行器 建模 PID控制 姿态控制 位置控制 仿真

毕业设计说明书外文摘要

Title    Design of Flight Control System Based On Multi-rotors 

Abstract：In recent decades, the rapid development of MEMS and micro-processors has greatly contributed to people’s concern on research in unmanned multi-rotors. Compared to traditional fixed-wing aircrafts and helicopters, multi-rotors have advantages in flexibility, cost and security and will be widely used in many fields.

This paper first states current statement of research in multi-rotors and clarifies the advantages of multi-rotors against traditional UAVs. The necessity of further research in six-rotors is claimed as well as its advantages against other multi-rotors.

This paper then focuses on traditional structural and flight modes of six-rotors. Then we establishes a non-linear math model of a six-rotor. Furthermore, this paper gives out the design of control system of this model based on the PID method. Finally, a digital model is built in Matlab/Simulink based on the design above. Various simulations have been carried out to examine the effectiveness of this control system.

Keywords  Six-rotor, Modeling, PID control, Attitude control, Position control, Simulation

目   次

1  绪论 1

1.1  工程背景及意义 1

1.2  国内外研究现状 1

1.3  总体技术方案及其社会影响 2

1.4  技术方案的经济因素分析 2

1.5  论文章节安排 2

2  六旋翼飞行器的飞行原理分析与非线性模型 4

2.1  飞行器构型 4

2.2  飞行器飞行原理 4

2.3  六旋翼飞行器动力学建模 5

2.3.1  坐标系定义 5

2.3.2  旋翼的升力与反扭矩 6

2.3.3  机体的空气动力学分析 6

2.3.4  电机动力模型 6

2.3.5  飞行器动力学建模 6

2.4  Matlab/Simulink建模