四旋翼反恐飞行器设计

Design of Four Rotor Aircraft on Terror

以ARM系列的STM32处理器为主控制器对四个电机调速器进行控制,用电调电路调节无刷直流电机的转速,模拟四旋翼飞行器模型。通过实验、调试等手段确定了最符合模型样机的姿态控制算法,从而实现飞行器的平衡和姿态控制。在飞行器上搭载微光摄像头,从而实现对夜间或阴暗环境的检测。飞行器可通过遥控飞行,同时将拍摄的视频或图片发送到控制室,也可发送警报,实时追踪,大大增加了飞行器的利用率。

The four motor speed regulators were controlled by ARM STM32 processor,the speed of bmshless dc motor was adjusted by circuit,and the four rotor aircraft model was smmlated. The attitude control algorithm of model prototype was determined by experiment,thus to realize the balance and attitude control of aircraft. A low light level camera was installed on the aircraft,so as to realize the detection of the night or dark enviromnent. The aircraft flying through remote control can send video or photos to the control room at the same time,can send alarm and real-time tracking. This increases greatly the utilization of the aircraft.