微小型无人机全姿态增稳控制系统的设计与实现

Design and Implementation of All-attitude Stability Augmentation Control System of Miniature UAV

针对传统微小型无人机在飞行过程中存在的稳定性问题,指出影响稳定的因素。提出一种基于三轴陀螺和倾角传感器构成全姿态增稳控制系统的设计方案,采用EWTS82三轴陀螺和SCA100T双轴传感器组成姿态增稳硬件控制,结合软件增稳控制,成功应用到某型微小型无人机上。大量的试飞结果表明,基于三轴陀螺和倾角传感器构成的姿态增稳控制系统优于传统的测量单元,有很好的应用价值。

According to the problems existing in flight process of traditional miniature UAV, the factors that affects the stability is pointed out, and a design scheme of all-attitude stability augmentation control system based on the tri-axis gyroscrope and tilt angle sensor is proposed. The hardware control system of attitude stability augmentation is comprised of EWTS82 tri-axis gvroscrope and SCA100T dual-axis sensor. It was applied to a certain type of miniature UAV successfully in combination with asoftware of stability augmentation contol. The flight test resultshows that the all-attitude stability augmentation control system based on tri-axis gyroscrope and tilt angle sensor is superior to conventional measurement units and it has a good practical value.