四轴飞行器的系统设计

System Design of Quadcopters

四轴飞行器作为当前最热门的一种飞行器,以其体积小、质量轻、灵活便携、机动性高、能工作于各种恶劣环境等特点在安保、消防等领域得到了广泛应用。本设计以Arduino控制板为四轴飞行器的控制核心,通过6轴运动处理组件MPU6050、蓝牙模块HC-05、四个直流无刷电机、四组电子调速器、四个螺旋桨、F450机身和锂电池等构成硬件系统,以Arduino控制板读取MPU6050中三轴的电压变化量,经过低通滤器滤波后获得稳定的电压值,再转换成角度。在MultiWiiConf飞行配置软件中设定PID控制器的参数,以修正四轴飞行器的姿态控制,使飞行器的状态输出可在有限的时间内达到姿态稳定。

Quadcopter,as the most popular aircraft,are widely used in security and fire safety fields due to their small volume,light mass,flexibility,portability,high maneuverability and ability to work in all kinds of adverse environments.In this design,Arduino board is used as the control core of a quadcopter,with its hardware system consisting of 6-axis movement processing component MPU6050,bluetooth module HC-05,4 brushless DC motors,4 groups of electronic speed governors,4 propellers,F450 airframe and lithium batteries,with the Arduino board used to read the voltage variation of three axes in MPU6050,stable voltage values obtained after filtration by a low-pass filter,followed by conversion to angles.The parameters of PID controllers are set in MultiWiiConf flight configuration software to correct the attitude control quadcopters and enable the state output of aircraft to realize attitude stability with a limited period of time.