摘要
四轴飞行器是通过调节电机转速来控制运动姿态的典型欠驱动系统,为研究飞行器的姿态控制问题,对飞行控制系统进行了初步设计.硬件部分以STM32单片机为主控芯片,采用MPU6050陀螺仪传感器完成飞行控制系统的选型设计,重点讨论了驱动电路、传感器和通信模块的选型设计.软件部分以PID控制为基础,重点介绍了姿态角检测过程中的四元数变换和卡尔曼滤波环节,这两个步骤保障了所得姿态角的准确性.仿真分析和室内测试显示,该硬件设计性能可靠,其姿态角控制达到了预期效果,对四轴飞行器的设计有借鉴意义.
The quad-rotor mini rotorcraft is an under actuated system,which is powered by adjusting the speed of the motors. In order to discuss the problem of quad-rotor aircraft control,the preliminary design of the control system was proposed. The hardware of flight control system was designed based on single chip microcontroller STM32 and sensor MPU6050. The key points include driven cir-cuit,sensors and communication module. Based on PID control scheme,the software was fulfilled. As its core part,quaternion num-bers and Kalman filtering were adopted to obtain exact values of the attitude angles. Simulation and indoor tests results shown that the designed hardware system is reliable and can meet requirements. Some meaningful experiences to the design of quad-rotor aircraft are introduced.
出处
《河南工程学院学报（自然科学版）》
2016年第2期38-42,共5页
Journal of Henan University of Engineering：Natural Science Edition
基金
河南工程学院教育教学改革研究项目(JY201540)
关键词
四轴飞行器
单片机
四元数
卡尔曼滤波
quad-rotor aircraft
single chip microcontroller
quaternion numbers
Kalman filtering
