四旋翼无人机控制系统设计与实现

Design and Implementation of the Control System for a Four-rotor UAV

四旋翼无人机是一种结构简单、操作灵活的垂直起降无人机。首先分析了四旋翼无人机的基本运动原理,然后以APM飞控计算机为核心,结合GPS定位芯片、陀螺仪、加速度计、航向计、无线数据电台等装置,进行了微型四旋翼无人机的系统集成。分析了包括位置回路和姿态回路的双闭环控制结构的四旋翼无人机的控制逻辑与控制规律。在进行传感器标定、参数整定等工作的基础上,对无人机进行了综合调试。最终实现了无人机的稳定可靠飞行,具有良好的姿态控制、轨迹控制能力,各项性能指标符合设计要求。

The four-rotor unmanned aerial vehicle （UAV） is a kind of vertical take-off and landing UAV with simple structure and flexible operation. In this paper, the basic principle of motion of the four-rotor UAV is analyzed, then the APM flight control computer is used as the core, and the GPS positioning chip, gyroscope, accelerometer, heading meter, wireless data radio and other devices are combined. The system integration of micro quad-rotor unmanned aerial vehicle （UAV） is earned out. The control logic and control law of the four-rotor unmanned aerial vehicle （UAV） with double closed-loop control structure including position loop and attitude loop are analyzed. On the basis of sensor calibration and parameter tuning, the UAV is comprehensively debugged. Finally, the UAV can fly stably and reliably, and it has good attitude control and trajectory control ability, and all the performance indexes meet the requirements of design.