基于混合滤波的四旋翼无人机抗干扰姿态控制系统设计

针对四旋翼无人机抗干扰姿态控制系统抗干扰能力较差,控制性能较差的问题;文章提出基于混合滤波的四旋翼无人机抗干扰姿态控制系统,优化设计了系统的硬件和软件部分;硬件部分设计主控制器,通过发生器输出的PWM波信号控制电速;设计传感器模块,测量姿态角与加速度等数据,采用双陀螺仪和双加速度计结构,避免共振对测量结果产生影响;设计电机驱动模块,选用X2216型无刷直流电机为运行提供较高的转速和响应速度;设计无线数据传输模块,选用3DR无线数据传输模块实时监测姿态信位置信息数据;构建基于混合滤波的四旋翼无人机抗干扰姿态控制系统,对角速度数据、加速度数据等数进行融合改正,再运用互补滤波器对陀螺仪和加速度计进行信号检测和控制调度,得到精确的实时姿态角;采用姿态控制算法和串级PID控制策略,提高对系统的控制力,保证飞行的平稳;实验结果表明,基于混合滤波的四旋翼无人机抗干扰姿态控制系统抗干扰性强、控制能力高以及响应速度快。

Design of Anti-jamming Attitude Control System of Quadrotor UAV Based on Hybrid Filtering

The anti-jamming attitude control system of the four-rotor UAV currently designed has poor anti-jamming capability and poor control performance. In order to solve the above problems, a new anti-jamming attitude control system for quad-rotor UAV was designed based on hybrid filtering, and the hardware and software of the system were optimized. The system hardware mainly includes the main controller, sensor module, motor drive control module, wireless data transmission module, etc. The collected attitude and position information of quadrotor UAV needs to be solved by the master controller. According to the air target flight mission, the attitude control algorithm is used to control the motor speed by using the output PWM wave signal, so as to realize the control of quadrotor UAV''s flying attitude and hovering position. The hardware system integrates dual gyroscope and dual acceleration structure. Acceleration structure. The software control process is realized through system initialization, determination of flight attitude angle, and input of attitude control algorithm. The experimental results show that the anti-jamming attitude control system based on hybrid filter has strong anti-jamming ability, high control ability and fast response speed.