基于无线遥控技术的四旋翼飞行器控制系统设计

A Design of Four-rotor Control System Based on Wireless Remote Control Technology

作为微型无人机的一种,四旋翼飞行器以其简单的机械结构和优越的飞行性能成为科学研究领域中空中机器人的热点之一。文章以四旋翼飞行器为主要研究对象,以四元数理论为基础,推导了飞行器姿态解算算法;利用MEMS技术和嵌入式技术,开展基于无线遥控技术的四旋翼飞行器的硬件设计;运用VRML语言建立四旋翼3D模型,利用LabVIEW软件对该模型进行图像处理和显示,并在与飞行器远程通信的基础上,完成了其作为地面站的主要功能。测试结果表明,系统硬件工作稳定,姿态解算准确,控制算法很好地满足了控制要求,飞行器的稳定性和响应特性较为理想。

As a kind of miniature UAVs, four-rotor aircraft has become one of the hottest areas of scientificresearch in the air robot due to its simple mechanical construction and superior flight performance. This paperconducts algorithm for this aircraft posture by taking four-rotor aircraft as the main object and based onquatemion theory. The authors use of MEMS technology and embedded technology, wireless remote controltechnology to carry out a four-rotor design is based on hardware; use YRML language the establishment offour rotor 3D model, and the model of LabVIEW software for image processing and display, and this papercompleted its primary function as a ground station on the basis of remote communication with the aircraft. Thetest results show that the system hardware is stable, accurate, solver attitude control algorithm, and it satisfiesthe control requirements, stability and responsiveness of the aircraft.