| 四旋翼微型飞行平台姿态稳定控制试验研究 |
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| 引用本文： | 周权,黄向华,朱理化.四旋翼微型飞行平台姿态稳定控制试验研究[J].传感器与微系统,2009,28(5):72-74. |
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| 作者姓名： | 周权 黄向华 朱理化 |
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| 作者单位： | 南京航空航天大学,能源与动力学院,江苏,南京,210016 |
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| 摘 要： | 对四旋翼飞行平台姿态稳定控制进行了试验研究，建立了数学模型，在Matlab环境下使用PID控制器进行了模拟仿真研究。基于仿真结果，设计了以TMS320V2808为核心处理器，以MIN-INA900为飞行平台测姿传感组件的飞行试验平台，进行了单通道系留试验和六自由度试验，试验结果表明：PID控制器能够实现对飞行平台姿态的控制。
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| 关 键 词： | 微型飞行器 四旋翼 控制规律 试验研究 PID控制 |
Experiment study on attitude stabilization control of quadrotor micro-aircraft |
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| ZHOU Quan,HUANG Xiang-hua,ZHU Li-hua.Experiment study on attitude stabilization control of quadrotor micro-aircraft[J].Transducer and Microsystem Technology,2009,28(5):72-74. |
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| Authors: | ZHOU Quan HUANG Xiang-hua ZHU Li-hua |
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| Affiliation: | ZHOU Quan,HUANG Xiang-hua,ZHU Li-hua(College of Energy , Power Engineering,Nanjing University of Aeronautics ,Astronautics,Nanjing 210016,China) |
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| Abstract: | The attitude stabilization control of quadrotor is studied using real time flight test results.An equivalent model of quadrotor is obtained which is simulated in Matlab with a PID controller.Based on the simulation results,control system is implemented for the designed prototype quadrotor.The embedded controller TMS320F2808 is used for quadrotor with supporting sensor module MIN-INA900.By fixing each roll,pitch and yaw channel and using all the 6 degrees of freedom together,the attitude response of the real... |
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| Keywords: | micro-aircraft quadrotor control rule experiment study PID control |
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