摘要
本文着重就四旋翼飞行器控制系统的系统组成、结构和软件算法进行研究与探索。四旋翼飞行器由控制核心处理器、加速度计、陀螺仪、磁场计和GPS模块等组成,控制核心处理器负责接收飞行器姿态数据和控制飞行姿态;用PID控制算法对数据进行处理,同时,计算出飞行器相应电机需要的PWM增减量,及时调整电机转速,调整飞行姿态,使飞行器的飞行的更加稳定。本系统选用的ST公司的STM32F407作为四旋翼飞行器的控制核心芯片,该芯片是ARM公司的最新内核Cortex M4F,通过其强大的控制和运算能力为本系统的研究奠定了很好的基础。
This paper focuses on four rotor aircraft control system composition, system structure and software algorithm of research and exploration. Four rotor aircraft by control core processor, accelerometer and gyroscope, magnetic field and GPS module, etc, core processor is responsible for receiving a spacecraft attitude control data and control the flight attitude;Using PID control algorithm of data processing, at the same time, calculate the corresponding motor vehicle need PWM decrement, timely adjust the motor speed, adjust the flight attitude, make the aircraft flying is more stable. This system chooses the ST company STM32F407 as four rotor aircraft control core chip, the chip is the latest kernel architecture of Cortex M4F, through its powerful control and computing power for the research of this system has laid a good foundation.
出处
《科技通报》
北大核心
2016年第4期121-125,共5页
Bulletin of Science and Technology
关键词
四旋翼
无人机
自动巡逻
算法
four rotor
unmanned aerial vehicle
automatic patrol
algorithm
