| 微小型四旋翼无人机实时嵌入式控制系统设计与实现 |
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| 引用本文： | 刘晓杰,赵晓晖,顾海军,Sanchez Anand,Lozano Rogelio.微小型四旋翼无人机实时嵌入式控制系统设计与实现[J].电子技术应用,2009,35(5). |
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| 作者姓名： | 刘晓杰 赵晓晖 顾海军 Sanchez Anand Lozano Rogelio |
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| 作者单位： | 1. 吉林大学,通信工程学院,吉林,长春,130012
2. 贡比涅科技大学,法国,贡比涅,60205 |
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| 摘 要： | 在四旋翼无人机飞行模式分析基础上,提出了一种四旋翼无人机的稳定姿态导航控制系统,改进了无刷电机控制驱动器,并应用多任务编程方案实现软件设计。实验表明,该机载嵌入式系统具有可靠性高、功耗低、重量轻、成本低等优点。
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| 关 键 词： | 四旋翼 无人航空器 嵌入式系统 无刷电机驱动器 |
Design and implementation of the real-time embedded control system for mini quad-rotor UAV helicopter |
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| LIU Xiao Jie,ZHAO Xiao Hui,GU Hai Jun,Sanchez Anand,Lozano Rogelio.Design and implementation of the real-time embedded control system for mini quad-rotor UAV helicopter[J].Application of Electronic Technique,2009,35(5). |
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| Authors: | LIU Xiao Jie ZHAO Xiao Hui GU Hai Jun Sanchez Anand Lozano Rogelio |
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| Abstract: | In this paper, the real-time embedded control system for quad-rotor helicopter is designed, while its flight mode is analyzed. The driver for brushLess direct current(BLDC) is improved. In addition, the multi-tasks programming method is adopted in software design to carry out the computation of control law, data processing and correction output to get the results satisfied. It is showed by the experiments that this onboard embedded control system for the quad-rotor helicopter is very stable and highly re- liable with the low power consumption, light weight, low cost, etc. |
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| Keywords: | quad-rotor unmanned aerial vehicles embedded system brushless motor driver |
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