摘要
在分析四旋翼飞行器工作原理的基础上,以STM32单片机为控制器,用MPU-6050检测飞行姿态和加速度,nRF24L01实现无线通信,USB串口上位机进行监控,完成四旋翼飞行器的设计。以惯性测量模块采集实时数据,采用卡尔曼滤波器进行姿态算解,运用PID算法以PWM方式驱动飞行电机。通过对系统的软硬件进行设计,完成了飞行器实物的制作和飞行测试。测试结果达到了设计要求。
Based on the analysis of quadrotor work principle,the quadrotor aircraft is designed by using STM32 as controller,the flight attitude and acceleration are detected by MPU-6050. The quadrotor aircraft uses nRF24 L01 to realize wireless communication and USB serial port for PC monitoring. Real-time data is collected with inertial measurement unit,attitude solution is used the Kalman filter,PID algorithm is applied to drive flight motor by PWM. Aircraft production and flight test are completed by the design of software and hardware. And the test results meet the design requirements.
作者
胡开明
钱敏
傅志坚
HU Kai-ming;QIAN Min;FU Zhi-jian(Fundamental Science on Radioactive Geology and Exploration Technology Laboratory, East China University of Technology, Nanchang 330013 , China;School of Mechanical and Electronics Engineering, East China University of Technology, Nanchang 330013 , China)
出处
《东华理工大学学报（自然科学版）》
CAS
2019年第2期187-189,200,共4页
Journal of East China University of Technology(Natural Science)
基金
放射性地质与勘探技术国防重点学科实验室开放基金(RGET1512)
江西省教育厅科技项目(GJJ161582)
