微型四旋翼直升机控制系统设计

Study on the control system of a Quad-rotor

微型四旋翼直升机是由4个电机作为动力装置,通过调节电机转速来实现飞行的无人机系统.首先,文章在滑流理论的基础上介绍了微型四旋翼直升机飞行原理;其次,提出微型四旋翼直升机的飞行控制系统整体架构;第三,讨论了内环姿态控制规律,并通过simu link对所建立的俯仰通道进行仿真,仿真结果表明,设计的控制规律有良好的实时跟踪控制效果;最后,进行了飞行控制系统的硬件设计,搭建了飞行平台,利用飞行平台进行了室内飞行试验,记录的实验数据进一步验证了该控制器具有良好的实时控制性能.

The Quad-rotor helicopter is an Autonomous Flying Vehicle（AFV） system which is equipped with four propellers driven by each electric motor.Firstly,this article introduces the flying principle of the mini quad-rotor helicopter on the basis of the Momentum theory.Secondly,it gives some introduction to the Quad-rotor helicopter＇s whole framework of the control system,and on this basis a control law based on PID is presented that stabilizes the state of the aircraft around the origin.Thirdly,the hardware of the flight control system is designed,which includes the solution unit of the flight control system and the the inertial system.The 8-digital micro-controller ATmega644p made in ATMEL company is adopted in the slution unit of the flight control system.ATmega644p is a high performance processor which adopts the Harvard structure,then instruction processing and data accessing can be run at the same time,and the efficiency is improved greatly.Lastly,in order to obtain experimental results we have built a low-cost on-board system which drives the aircraft in position.The controller has been successfully tested experimentally.