一种高精度控制的四旋翼飞行器控制系统

High-precision control system of quad-rotor aircraft

针对当前四旋翼飞行器控制系统存在的信号采集不同步、控制精度低等问题,设计了一种基于FPGA和STM32双处理器的控制系统,利用FPGA同步采集传感器数据,实时融合数据和解算姿态,并通过FPGA产生高精度的PWM信号。为了弥补FPGA在计算上的不足,采用STM32作为辅助运算单元。实验结果表明,采用FPGA和STM32双处理器能够很好地解决计算中传感器数据更新时间不同步的问题,缩短采集和处理周期,并产生高精度的PWM控制信号,有效地提高控制精度。

For the problem of unsynchronisition signal acquisition and low control precision , a kind of FPGA and STM32 dual-processor control system was designed to collect sensors data and integrate data , and generate precious PWM signals through FPGA . To compensate for the calculation of FPGA , the STM32 is used as an auxiliary arithmetic unit . The experimental result shows that the dual-processor FPGA and STM32 can solve the updated desynchrony problems of sensors data with less col lecting and process-ing time, and calculate the more accurate PWM control signals output. And the control precision can be effectively improved.