C8051F020的微型旋翼飞行器实验平台的控制系统

A control system for experimental platform of micro aerial vehicle based on C8051F020

提出了一种与传统桨距角递推算法不同的基于高速摄影和图像处理的桨距角测定方法。根据实验要求,开发了一个以微型旋翼飞行器的非对称变距装置为测试主体的实验平台,并设计了一套基于C8051F020的微型旋翼飞行器实验平台的控制系统。该控制系统以C8051F020单片机为微控制器,用微型位置传感器来检测螺旋桨主轴的相位信息,并利用C8051F020单片机内部的PCA捕捉功能采集位置传感器的输出信号,得到螺旋桨主轴的四个相位;利用单片机输出的PWM方波信号控制电机的转速,以达到对螺旋桨电机进行加速的目的;利用单片机内部产生的PCA捕捉中断来触发高速摄像机的拍摄,以实现飞机加速与拍摄的同步。该控制系统结构紧凑,系统可靠性高。最后通过该控制系统来控制微型飞行器仿真飞机前飞的状态,得到该状态下桨叶的变距曲线,证明所提出的桨距角测定方法和由此开发的实验平台在测量桨距角中是有效的,达到了预期目标。

A new measuring way different from the traditional deducting method for the angle of blade pitch was proposed based on high-speed camera and image processing. According to the experiment requirement, an experimental platform mainly based on the device of Micro Aerial Vehicle（MAV） and a new control system found on C8051F020 SCM were designed. In the platform, C8051F020 SCM was the MCU; the phase information of the propeller＇s main-shaft was tested with the micro position sensor and the PCA capture function of C8051F020 SCM. The four phase information of a propeller＇s main-shaft was gained by collecting the output signal of a position sensor; the motor speed was controlled by the output signal of PWM generated by C8051F020 SCM for controlling the motor speed up; a high-speed camera was touched off by the interrupt signal from the PCA capture in order to realize the synchronization between the speeding up of the motor and the taking pictures of the camera. This control system has compacted configuration and high reliability. Finally, using this system to control the MAV for simulating the forward flying, the electronic collector curve of MAV was ohtained. It is proved that the proposed method and the experiment platform based this method can be used to measure the blade pitch and have met the design requirement completely.