基于Matlab的精确三段式电流保护系统：一段至三段保护数值解析及视频教学,基于MATLAB的三段式电流保护算法详解与数值分析附带视频讲解指南,继电保护基于matlab 的三段式电流保护一段保护二
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基于Matlab的精确三段式电流保护系统：一段至三段保护数值解析及视频教学,基于MATLAB的三段式电流保护算法详解与数值分析附带视频讲解指南,继电保护基于matlab 的三段式电流保护一段保护二段保护三段保护数值均已算出附带视频讲解,继电保护; MATLAB; 三段式电流保护; 保护数值计算; 视频讲解,基于Matlab的三段式电流保护：继电保护算法与数值解析视频教程 <link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90430720/2/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90430720/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">**<span class="ff2">基于<span class="_ _0"> </span></span>STM32F4<span class="_ _0"> </span><span class="ff2">核心板的四旋翼无人机飞控项目</span>**</div><div class="t m0 x1 h2 y2 ff2 fs0 fc0 sc0 ls0 ws0">一、引言</div><div class="t m0 x1 h2 y3 ff2 fs0 fc0 sc0 ls0 ws0">历经两年的研究与开<span class="_ _1"></span>发，我们基于<span class="_ _0"> </span><span class="ff1">STM32F4<span class="_"> </span></span>核心板设计了一个功能强<span class="_ _1"></span>大的四旋翼无人机飞</div><div class="t m0 x1 h2 y4 ff2 fs0 fc0 sc0 ls0 ws0">控系<span class="_ _1"></span>统。<span class="_ _1"></span>该系<span class="_ _1"></span>统<span class="_ _1"></span>集成<span class="_ _1"></span>了最<span class="_ _1"></span>新的<span class="_ _1"></span>技术<span class="_ _1"></span>和<span class="_ _1"></span>控制<span class="_ _1"></span>算法<span class="_ _1"></span>，适<span class="_ _1"></span>用<span class="_ _1"></span>于对<span class="_ _1"></span>技术<span class="_ _1"></span>进行<span class="_ _1"></span>学习<span class="_ _1"></span>的<span class="_ _1"></span>学生<span class="_ _1"></span>以及<span class="_ _1"></span>工程<span class="_ _1"></span>师<span class="_ _1"></span>。</div><div class="t m0 x1 h2 y5 ff2 fs0 fc0 sc0 ls0 ws0">我们的目标是为广大爱好者提供一个真正从零开始，<span class="_ _2"></span>简洁而不简单的项目程序，<span class="_ _2"></span>让每一个参</div><div class="t m0 x1 h2 y6 ff2 fs0 fc0 sc0 ls0 ws0">与者都能从中受益。</div><div class="t m0 x1 h2 y7 ff2 fs0 fc0 sc0 ls0 ws0">二、硬件组成</div><div class="t m0 x1 h2 y8 ff1 fs0 fc0 sc0 ls0 ws0">1. STM32F407<span class="_"> </span><span class="ff2">单片机核心<span class="_ _1"></span>板：作<span class="_ _1"></span>为整个<span class="_ _1"></span>系统的<span class="_ _1"></span>主控制<span class="_ _1"></span>器，负<span class="_ _1"></span>责数据<span class="_ _1"></span>的处理<span class="_ _1"></span>和飞行控<span class="_ _1"></span>制逻辑</span></div><div class="t m0 x1 h2 y9 ff2 fs0 fc0 sc0 ls0 ws0">的实现。</div><div class="t m0 x1 h2 ya ff1 fs0 fc0 sc0 ls0 ws0">2. Gy-91<span class="_ _0"> </span><span class="ff2">模块：提供精确的姿态信息，是四旋翼无人机飞行的关键部件。</span></div><div class="t m0 x1 h2 yb ff2 fs0 fc0 sc0 ls0 ws0">三、软件功能与实现</div><div class="t m0 x1 h2 yc ff1 fs0 fc0 sc0 ls0 ws0">1. PID<span class="_"> </span><span class="ff2">控制器：</span>PID<span class="_ _1"></span><span class="ff2">（比例<span class="_ _1"></span></span>-<span class="ff2">积分</span>-<span class="_ _1"></span><span class="ff2">微分）<span class="_ _1"></span>控制器<span class="_ _1"></span>是飞控系<span class="_ _1"></span>统的核<span class="_ _1"></span>心部分<span class="_ _1"></span>，负责根<span class="_ _1"></span>据<span class="_ _0"> </span></span>IMU<span class="ff2">（<span class="_ _1"></span>惯</span></div><div class="t m0 x1 h2 yd ff2 fs0 fc0 sc0 ls0 ws0">性测量单元）<span class="_ _3"></span>的数据调整电机的转速，<span class="_ _3"></span>以实现无人机的姿态和位置控制。<span class="_ _3"></span>我们的程序基于精</div><div class="t m0 x1 h2 ye ff2 fs0 fc0 sc0 ls0 ws0">确的算法和大量实践的调试，使得四旋翼无人机的飞行更加稳定。</div><div class="t m0 x1 h2 yf ff1 fs0 fc0 sc0 ls0 ws0">2. <span class="_ _4"> </span><span class="ff2">无迹卡尔曼滤波（</span>UKF<span class="ff2">）<span class="_ _5"></span>：用于融合<span class="_ _0"> </span><span class="ff1">IMU<span class="_"> </span></span>和<span class="_ _4"> </span><span class="ff1">GPS<span class="_"> </span></span>的数据，实现更精确的导航和定位。</span></div><div class="t m0 x1 h2 y10 ff1 fs0 fc0 sc0 ls0 ws0">3. IMU+GPS<span class="_"> </span><span class="ff2">组合导<span class="_ _1"></span>航：<span class="_ _1"></span>通过融<span class="_ _1"></span>合<span class="_ _0"> </span></span>IMU<span class="_"> </span><span class="ff2">和<span class="_ _0"> </span></span>GPS<span class="_"> </span><span class="ff2">的数据<span class="_ _1"></span>，无<span class="_ _1"></span>人机<span class="_ _1"></span>可以在<span class="_ _1"></span>无<span class="_ _0"> </span></span>GPS<span class="_"> </span><span class="ff2">信号<span class="_ _1"></span>的环境<span class="_ _1"></span>中</span></div><div class="t m0 x1 h2 y11 ff2 fs0 fc0 sc0 ls0 ws0">依然保持稳定的飞行。</div><div class="t m0 x1 h2 y12 ff1 fs0 fc0 sc0 ls0 ws0">4. <span class="_ _4"> </span><span class="ff2">上位<span class="_ _1"></span>机通信：<span class="_ _1"></span>通过串<span class="_ _1"></span>口或蓝<span class="_ _1"></span>牙等通<span class="_ _1"></span>信方式<span class="_ _1"></span>与上位<span class="_ _1"></span>机进行<span class="_ _1"></span>数据交<span class="_ _1"></span>互，实现<span class="_ _1"></span>遥控、<span class="_ _1"></span>实时监<span class="_ _1"></span>控</span></div><div class="t m0 x1 h2 y13 ff2 fs0 fc0 sc0 ls0 ws0">等功能。</div><div class="t m0 x1 h2 y14 ff1 fs0 fc0 sc0 ls0 ws0">5. <span class="_ _4"> </span><span class="ff2">遥控器通信和解码<span class="_ _6"></span>：<span class="_ _6"></span>接收遥控器发出的指令，通过解码后传递给<span class="_ _0"> </span><span class="ff1">STM32F407<span class="_ _4"> </span></span>单片机进行</span></div><div class="t m0 x1 h2 y15 ff2 fs0 fc0 sc0 ls0 ws0">相应的操作。</div><div class="t m0 x1 h2 y16 ff1 fs0 fc0 sc0 ls0 ws0">6. DMA<span class="_ _0"> </span><span class="ff2">传输<span class="_ _7"></span>：<span class="_ _7"></span><span class="ff1">DMA<span class="ff2">（直接内存访问）<span class="_ _2"></span>技术可以大大提高数据传输的效率，<span class="_ _2"></span>降低<span class="_ _0"> </span><span class="ff1">CPU<span class="_"> </span></span>的负担。</span></span></span></div><div class="t m0 x1 h2 y17 ff1 fs0 fc0 sc0 ls0 ws0">7. <span class="_ _4"> </span><span class="ff2">手机蓝牙控制：通过蓝牙连接手机<span class="_ _0"> </span></span>APP<span class="ff2">，实现通过手机控制无人机的功能。</span></div><div class="t m0 x1 h2 y18 ff2 fs0 fc0 sc0 ls0 ws0">四、项目特色与创新点</div><div class="t m0 x1 h2 y19 ff1 fs0 fc0 sc0 ls0 ws0">1. <span class="_ _4"> </span><span class="ff2">完整的原理图方案：包括各个模块的电路连接图，为初学者提供了详细的设计参考。</span></div><div class="t m0 x1 h2 y1a ff1 fs0 fc0 sc0 ls0 ws0">2. <span class="_ _4"> </span><span class="ff2">单片机程序及固件：从零开始编写的程序，包含了各种功能的实现和优化。</span></div><div class="t m0 x1 h2 y1b ff1 fs0 fc0 sc0 ls0 ws0">3. <span class="_ _4"> </span><span class="ff2">上位<span class="_ _1"></span>机程序及<span class="_ _1"></span>运行环<span class="_ _1"></span>境：提<span class="_ _1"></span>供上位<span class="_ _1"></span>机软件<span class="_ _1"></span>的源代<span class="_ _1"></span>码和运<span class="_ _1"></span>行环境<span class="_ _1"></span>，方便用<span class="_ _1"></span>户进行<span class="_ _1"></span>调试和<span class="_ _1"></span>监</span></div><div class="t m0 x1 h2 y1c ff2 fs0 fc0 sc0 ls0 ws0">控。</div><div class="t m0 x1 h2 y1d ff1 fs0 fc0 sc0 ls0 ws0">4. <span class="_ _4"> </span><span class="ff2">多种控制方式：包括遥控器、手机蓝牙等多种控制方式，使得无人机的操作更加便捷。</span></div><div class="t m0 x1 h2 y1e ff1 fs0 fc0 sc0 ls0 ws0">5. <span class="_ _4"> </span><span class="ff2">先进<span class="_ _1"></span>的算法<span class="_ _1"></span>：采用<span class="_ _1"></span>了先进<span class="_ _1"></span>的<span class="_ _0"> </span></span>PID<span class="_"> </span><span class="ff2">控制器和<span class="_ _1"></span>无迹卡<span class="_ _1"></span>尔曼滤<span class="_ _1"></span>波等算<span class="_ _1"></span>法，<span class="_ _1"></span>实现了<span class="_ _1"></span>无人机<span class="_ _1"></span>的稳定</span></div><div class="t m0 x1 h2 y1f ff2 fs0 fc0 sc0 ls0 ws0">飞行和精确导航。</div><div class="t m0 x1 h2 y20 ff2 fs0 fc0 sc0 ls0 ws0">五、总结</div><div class="t m0 x1 h2 y21 ff2 fs0 fc0 sc0 ls0 ws0">通过这个基于<span class="_ _0"> </span><span class="ff1">STM32F4<span class="_"> </span></span>核心板的四旋翼无人机飞<span class="_ _1"></span>控项目，我们提供了<span class="_ _1"></span>一个从零开始的学习</div><div class="t m0 x1 h2 y22 ff2 fs0 fc0 sc0 ls0 ws0">和实践的机会。<span class="_ _6"></span>无论是对技术进行学习的学生还是工程师，<span class="_ _6"></span>都可以从中受益。<span class="_ _3"></span>同时，<span class="_ _6"></span>这个项</div></div><div class="pi" data-data='{"ctm":[1.611830,0.000000,0.000000,1.611830,0.000000,0.000000]}'></div></div>