微型旋翼飞行器飞行控制系统设计

Design of a Flight Control System of a Micro-Aerial Vehicle

微型飞行器 (MAV)是一项包含了多种交叉学科的高、精、尖技术 ,是集微机械、电子、高性能数字计算机于一身的微机电系统。在民用 ,特别是在军事领域应用具有深远的意义。针对双旋翼式MAV ,根据其飞行动力学特点 ,以微直流电机锂电池驱动为动力 ,单片机为控制核心 ,采用遥控加脉宽调制控制方式 ,实现了微风条件下微型飞行器的起飞、悬停、前后飞行和降落整个过程的飞行 。

Micro aerial vehicle is an integrated system that consists of micro machinery, electron and high capability digital computer. It has a bright future in many application fields, especially in military. The paper discusses the characteristics of flight dynamics and the flight control ways of a micro two-rotor rotorcraft. With the help of the power provided by micro continuous current motors driven with lithium cells, the chip microprocessor acting as a control core and the method of remote control and PWM, the micro two-rotor rotorcraft can take off, stay in the sky, fly forward and backward and descend favorably under the condition of breeze. The research has laid a good foundation for further studies of micro aerial vehicles.