摘要
针对常规无人飞行器尺寸较大,无法适用于室内狭小空间飞行的问题,设计了一种四旋翼微型飞行器.建立了微型飞行器的动力学模型,介绍了组成飞行器的相关硬件.构建了由三轴陀螺仪、三轴加速度计和三轴磁力计组成的姿态测量系统,给出了姿态解算的具体步骤.使用了互补滤波器对陀螺测量误差进行矫正,并给出了互补滤波器融合系数的确定方法.采用基于欧拉角反馈的PID控制器进行姿态控制,无需建立复杂的控制系统模型.该飞行器最大尺寸15 cm,重量22g,可垂直起降和悬停,适用于狭小空间的侦察任务.
The size of the conventional unmanned aerial vehicle is large for flight in narrow and small indoor environment. A quad-rotor Micro Air Vehicle is designed to solve the problem. The dynamic model of the vehicle is set up. The hardware of the vehicle is described. The attitude measurement system consists of a triaxial gyroscope, a triaxial accelerometer and a triaxial magnetometer. The attitude algorithm method is described in detail. A com- plementary filter is used to correct the errors of gyro measurement. The method of determining the fusion coefficient of complementary filter is given. The attitude control system is a PID controller based on Euler angles feedback, without the need to create complex model of control system. The maximum size of the vehicle is 15 centimeters, and the weight of which is 22 grams. The Micro Air Vehicle can perform vertical takeoff, landing and hovering, which is suitable for reconnaissance missions in narrow spaces.
出处
《哈尔滨理工大学学报》
CAS
2012年第3期110-114,共5页
Journal of Harbin University of Science and Technology
基金
中国博士后科学基金(20110491036)
关键词
四旋翼
微型飞行器
姿态测量
互补滤波器
PID控制器
quad-rotor
Micro Air Vehicle
attitude measurement
complementary filter
PID controller
