基于MPU6050和互补滤波的四旋翼飞控系统设计

针对四轴飞行器飞行性能不稳定和惯性测量单元（IMU）易受干扰、存在漂移等问题，利用惯性传感器MPU6050采集实时数据，以经典互补滤波为基础，提出一种可以自适应补偿系数的互补滤波算法，该算法在低通滤波环节加入PI控制器，依据陀螺仪测得的角速度实时调节PI控制器补偿系数。飞行器姿态控制系统采用双闭环PID控制方法，姿态解算的欧拉角作为系统外环，陀螺仪角速度作为系统内环。最后，搭建以NI myRIO为核心控制器的四轴飞行器，通过LabVIEW实现算法和仿真，实验结果表明，自适应互补滤波算法可以准确解算姿态信息，双闭环PID控制超调量小、反应灵敏，控制系统基本满足飞行要求。

Design of Quad-rotor Aircraft Flight Control System Based on MPU6050 and Adaptive Complementary Filter

Against the flight performance instability of quad-rotor aircraft and Inertial Measurement Unit(IMU)’s defects,such as lack of anti-interference and drifting etc,this paper presents a complementary filtering algorithm that adaptive to compensation coefficient,based on classic complementary filter. Collecting real-time data via iner?tial sensor MPU6050,this algorithm adds PI controller into the low-pass filter link,and adjusts the compensation co?efficient of PI controller in real-time mode,based on the angular velocity of the gyroscope. Aircraft attitude control system adopts double closed loop PID control method,which takes the Euler angles of the attitude algorithm as its outer loop and the angular velocity of the gyroscope as its inner loop. In the final test,a quad-rotor aircraft is built with NI myRIO as a core controller,and implement the algorithm and simulation through the LabVIEW. Experimen?tal result demonstrates that adaptive complementary filter algorithm can calculate attitude information accurately , with the advantages of little control overshoot and the sensitive response of the double closed loop PID control ,the control system basically meets the requirements of flight.