基于单片机的四轴飞行器实训项目设计

Training design of quadrotor based on single chip microcomputer

四轴飞行器是一种很好的嵌入式控制器实训平台,方案多数使用ARM控制器和实时操作系统,其实训难度较大,不适合低年级学生使用。为了激发学生对控制器的学习兴趣,设计了基于单片机的四轴飞行器实训项目。分析了四轴飞行器的原理,介绍了系统的硬件电路和软件流程,使用PI控制算法实现了对飞行器的平衡控制。四轴飞行器结构和控制算法简单,能实现横滚、俯仰、偏航等基本飞行动作,设计遵从最简原则,降低难度,同时可以满足单片机实训项目的要求。

Embedded controller system of quadrotor is a kind of good training platform, it usually u- sing ARM as controller and the real-time operating system. It＇s not suitable for lowerclassman because of high difficulty. In order to stimulate the learning interest of students at single chip microcomputer learning. We proposed a quadrotor design scheme for practice teaching. At first, we introduce the prin- ciple of quadrotor, the design circuits and the program flow. Then, a PI control algorithm used in this system for the fly balance of the vehicle. At last, experiments have been carried out, it can implement the basic fly action of pitch, yaw and roll. This design follows the simplest principle, decreasing opera- tional difficulty. The result show that this quadrotor very suitable for practice teaching and learning in single chip microcomputer course.