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四旋翼微型飞行器控制系统设计
引用本文:杨明志,王敏.四旋翼微型飞行器控制系统设计[J].计算机测量与控制,2008,16(4):485-488.
作者姓名:杨明志  王敏
作者单位:1. 南京航空航天大学,自动化学院,江苏,南京,210016
2. 安徽师范大学,数学计算机学院,安徽,芜湖,241000
摘    要:四旋翼微型飞行器是一种以4个电机作为动力装置,通过调节电机转速来控制飞行的欠驱动系统;为了实现四旋翼微型飞行器的自主飞行控制,对飞行控制系统进行了初步设计,并且以C8051F020单片机为计算控制单元,给出了飞行控制系统的硬件设计,研究了设计中的关键技术;由于采用贴片封装和低功耗的元器件,使飞行器具有重量轻、体积小、功耗低的优点;经过多次室内试验,该硬件设计性能可靠,能满足飞行器起飞、悬停、降落等飞行模态的控制要求。

关 键 词:四旋翼微型飞行器  飞行控制系统  单片机  PWM
文章编号:1671-4598(2008)04-0485-03
修稿时间:2007年6月2日

Design of Flight Control System for a Four-rotor Mini Rotorcraft
Yang Mingzhi,Wang Min.Design of Flight Control System for a Four-rotor Mini Rotorcraft[J].Computer Measurement & Control,2008,16(4):485-488.
Authors:Yang Mingzhi  Wang Min
Affiliation:1.College of Automation & Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China; 2.College of Mathematics and Computer Science,Anhui Normal University,Wuhu 241000,China)
Abstract:The four-rotor mini rotorcraft is an under-actuated system,which is powered by four motors and flies by adjusting the speed of the motors.In order to realize the autonomous flight control for the four-rotor mini rotorcraft,the preliminary design of flight con- trol System is proposed.The hardware of flight control system is designed based on single-chip microcontroller C8051F020.The key tech- niques related to hardware design are discussed.Because of the patch package and the low power-consumption of the most elements,the ro- torcraft has the characteristics of the small volume,the little weight and the low power-consumption.The test results within doors show that the hardware system is reliable and can meet control requirement under the model of flight,including taking off,hovering,and landing and so on,
Keywords:four-rotor mini rotorcraft  flight control system  single-chip mierocontroller  PWM
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