| 四旋翼飞行器控制系统设计 |
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| 引用本文： | 曹凯,马贝,王翔武.四旋翼飞行器控制系统设计[J].计算机系统应用,2018,27(1):61-65. |
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| 作者姓名： | 曹凯 马贝 王翔武 |
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| 作者单位： | 西安工业大学 电子信息工程学院, 西安 710032,西安工业大学 电子信息工程学院, 西安 710032,西安工业大学 电子信息工程学院, 西安 710032 |
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| 基金项目： | 陕西省工业科技攻关计划项目（2016GY-032）；西安工业大学校长基金（XAGDXJJ15014） |
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| 摘 要： | 四旋翼飞行器姿态控制是四旋翼飞行器控制系统的核心. 通过分析四旋翼飞行器的飞行原理，模型建立，设计了四旋翼飞行器的姿态控制系统；在该系统中采用STM32系列处理器作为主控芯片，MPU6050三轴加速度集和三轴陀螺仪惯性测量单元、磁力计等传感器用于姿态信息检测. 本文中传感器使用结构简单的数字接口对数据进行交换，运用模块化的思想对系统进行设计. 使用PID控制算法进行姿态角的闭环控制，最终实验结果表明，在实验平台上四旋翼飞行器飞行效果稳定，系统满足四旋翼飞行器飞行姿态控制的要求.
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| 关 键 词： | PID控制 STM32控制器 四旋翼飞行器 姿态控制 |
| 收稿时间： | 2017/4/25 0:00:00 |
| 修稿时间： | 2017/5/9 0:00:00 |
Design of Quadcopter Aircraft Control System |
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| CAO Kai,MA Bei and WANG Xiang-Wu.Design of Quadcopter Aircraft Control System[J].Computer Systems& Applications,2018,27(1):61-65. |
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| Authors: | CAO Kai MA Bei and WANG Xiang-Wu |
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| Affiliation: | Eletronic and Information Academy, Xi''an Technological University, Xi''an 710032, China,Eletronic and Information Academy, Xi''an Technological University, Xi''an 710032, China and Eletronic and Information Academy, Xi''an Technological University, Xi''an 710032, China |
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| Abstract: | The quadrotorcraft attitude control is the core of the four rotorcraft control system. In this study, the attitude control system of four rotorcraft is designed by analyzing the flight principle and model of the four rotorcraft. In this system, the STM32 series processor is used as the main chip, MPU6050 triaxial acceleration set, the triaxial gyroscope inertia measurement unit, magnetometer, and other sensors to detect posture information. The system is based on the idea of modular design and the sensor uses a simple structure of the digital interface to exchange data. The closed-loop control of attitude angle is carried out by double closed-loop PID control algorithm. Finally, the experimental results show that the flight effect of the four rotorcraft is stable on the experimental platform, and the system meets the requirements of flight attitude control of four rotorcraft. |
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| Keywords: | PID controller STM32 controller quadrocopter attitude control |
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