摘要
针对四轴飞行器控制实时性较差的问题,提出了一种利用移植实时操作系统的STM32单片机进行飞行器控制的解决方案.以32位ARM(Advanced RISC Machines)微控制器STM32F103CB单片机作为飞行器的控制芯片,采用四元数结合PID(proportion,integral&derivative)控制算法并利用RTX(Real-Time e Xtension)实时操作系统对四轴飞行器进行姿态控制,同时使用多传感器并发处理技术实现了四轴飞行器的数据采集.实验表明,本设计实现了四轴飞行器上,控制信号和电池电量数据的双向、快速传输,获取的姿态信息精度高,四轴飞行器姿态角更新更迅速且易操作,提高了飞行器运行的稳定性,具有实时性.
Aiming at inefficiency in the real time control of mini-type quad-rotor aerial vehicle,we used the STM32 microcontroller to transplant real time operating system. The 32 bit advanced RISC machines microcontroller STM32F103CB was used as the control chip,and the Real-Time eXtension operating system and four elements combined with proportion,integral and derivative control algorithm were used to control the attitude of mini-type quad-rotor aerial vehicle. Finally,the date collection of quad-rotor aerial vehicle was implemented by using the multiple concurrent sensor processing technology. Experimental results prove that the quad-rotor aerial vehicle quickly complete the two-way transmission of control signal and battery quantity data, and obtain high precise attitude information. Therefore,the attitude angel of quad-rotor aerial vehicle updates more quickly and operates easily,which improves the stability and real time of quad-rotor aerial vehicle.
出处
《武汉工程大学学报》
CAS
2017年第1期83-90,共8页
Journal of Wuhan Institute of Technology
基金
智能机器人湖北省重点实验室开放基金项目(HBIR201406)
