四轴飞行器姿态控制系统设计

Design of Four Axis Spacecraft Attitude Control System

文章在充分研究四轴飞行器的结构特点和动力学特性的基础上,设计并实现了以STM32F303微控制器为核心,MPU6050为惯性测量单元的飞行控制系统硬件,基于ChibiOS实时操作系统的飞行控制软件,以及基于Android操作系统的手持端软件。最后对本文所设计的飞行器控制系统进行了真机飞行试验和调试,飞行试验表明,所设计的四轴飞行器姿态控制系统,能够很好的控制四轴飞行器实现半自主平稳飞行。

On the basis of the full study structural characteristics and dynamic characteristics of four axis spacecraft, this paper designed a flight control system with STM32F303 MCU and MPU6050 IMU sensor,the software running on the flight control system which is based on ChibiOS RTOS and the software running on handset which is based on Android OS. At the end of the paper,the designed flight control system has carried on the real machine test flights and debugging,the flight test show that the design of attitude control system for four axis spacecraft can control the unmanned aerial vehicles (UAV)flight smoothly.