CAJ | 학술논문

四旋翼飞行器由于其简单的机体结构与较为复杂的姿态控制，近年来在军用和民用领域广泛应用。旨在通过四旋翼飞行器飞控平台的搭建，实现对飞行器姿态的稳定控制。首先论述了四旋翼飞行器的飞行原理与机械结构，给出了硬件系统总体结构。在对各功能模块整合的基础上，实现基于多传感器的控制系统硬件电路设计。仿真与实验证明：多传感器使用过程中，通过卡尔曼滤波进行姿态数据的融合，有效地解决了加速度计、陀螺仪易受外界干扰问题，所设计硬件系统在飞行实验中性能稳定，为四旋翼的稳定控制提供了参考。
사선익비행기유우기간단적궤체결구여교위복잡적자태공제，근년래재군용화민용영역엄범응용。지재통과사선익비행기비공평태적탑건，실현대비행기자태적은정공제。수선논술료사선익비행기적비행원리여궤계결구，급출료경건계통총체결구。재대각공능모괴정합적기출상，실현기우다전감기적공제계통경건전로설계。방진여실험증명：다전감기사용과정중，통과잡이만려파진행자태수거적융합，유효지해결료가속도계、타라의역수외계간우문제，소설계경건계통재비행실험중성능은정，위사선익적은정공제제공료삼고。
In recent years,quadrotor is widely used in the field of military and civilian because of its simple mechanical structure and its relative complex attitude control. In order to realize stable control of aircraft attitude, by setting up flight control platform of quadrotor. Firstly discuss flight principle and mechanical structure of quadrotors,then overall structure of hardware system is given. On the basis of integration of each function modules, realize hardware circuit design of flight control system based on multi-sensors. Simulation and experimental results show that in using process of multi-sensors,data integration by Kalman filtering effectively solves problem that accelerometer and gyroscopes are susceptible to be interfered by outside,the designed hardware system has stable performance in flying experiment,provide reference for stable control of quadrotor.