基于PWM的四旋翼飞行器控制方法

Control of Four-Rotor Aircraft Based on PWM

为实现四旋翼飞行器稳定可靠性飞行控制,提出了以ATMEL公司AVR微控制器为核心IC(IntergratedCircuit)的MCU(Micro Control Unit)四旋翼飞行器控制系统。该系统由以无刷直流电机为动力核心的动力驱动系统、以微控制器及陀螺仪为核心的核心控制系统、以2.4 GHz的无线遥控接收器为核心的无线遥控控制系统组成。采用脉冲宽度调制(PWM:Pulse Width Modulation)信号控制四旋翼控制动力驱动模块。通过对四旋翼工作模式与控制参数的研究,得到相应的控制算法,然后编程实现、模拟相应的飞行姿态。实验结果表明,四旋翼飞行器能稳定悬停、转向和三维控制。

Based on AVR MCU （Micro Control Unit） which is produced by ATMEL company a ibur-rotor air- craft IC （Intergrated Circuit） control system is proposed for reliable control-flight. Four-rotor aircraft system mainly includes drive system composed by brnshless DC motors, master control system composed by the micro- controller and gyroscopes and wireless remote control system composed by the 2. 4 GHz wireless remote control receiver. Firstly, the author uses the PWM （Pulse Width Modulation） signal produced by AVR MCU to drive the control module. Secondly, after the analysis of four-rotor aircraft, the author studies control parameters and achieves the corresponding control algorithm. Thirdly, the author programmes to simulate the corresponding flight attitude. Finally, after many experiments the author will achieve a control design for unmanned flight including turn and three-dimensional control.