计算机与现代化
計算機與現代化
계산궤여현대화
COMPUTER AND MODERNIZATION
2015年
5期
117-120
,共4页
PID%四旋翼飞行器%姿态解算%飞行控制系统
PID%四鏇翼飛行器%姿態解算%飛行控製繫統
PID%사선익비행기%자태해산%비행공제계통
PID%quad-rotor aircraft%attitude resolving%flight control system
飞行控制系统很大程度上决定了四旋翼飞行器的飞行性能。分析飞行器模型，并在此基础上设计实现一种基于PID（ Proportion， Integration， Differentiation）控制方法的飞行器姿态控制系统。整个控制系统包括第1阶段的四元数姿态解算（ PI）和第2阶段的油门计算（ PID）。通过PI方法融合加速度和角速度传感器的输出，计算出飞行器当前的姿态角；通过PID方法融合当前姿态和目标姿态控制电机油门输出。上位机通过蓝牙获取飞行器数据，结果显示该系统能很好地保持飞行器的稳定姿态。
飛行控製繫統很大程度上決定瞭四鏇翼飛行器的飛行性能。分析飛行器模型，併在此基礎上設計實現一種基于PID（ Proportion， Integration， Differentiation）控製方法的飛行器姿態控製繫統。整箇控製繫統包括第1階段的四元數姿態解算（ PI）和第2階段的油門計算（ PID）。通過PI方法融閤加速度和角速度傳感器的輸齣，計算齣飛行器噹前的姿態角；通過PID方法融閤噹前姿態和目標姿態控製電機油門輸齣。上位機通過藍牙穫取飛行器數據，結果顯示該繫統能很好地保持飛行器的穩定姿態。
비행공제계통흔대정도상결정료사선익비행기적비행성능。분석비행기모형，병재차기출상설계실현일충기우PID（ Proportion， Integration， Differentiation）공제방법적비행기자태공제계통。정개공제계통포괄제1계단적사원수자태해산（ PI）화제2계단적유문계산（ PID）。통과PI방법융합가속도화각속도전감기적수출，계산출비행기당전적자태각；통과PID방법융합당전자태화목표자태공제전궤유문수출。상위궤통과람아획취비행기수거，결과현시해계통능흔호지보지비행기적은정자태。
The performance of quad-rotor flight has been largely determined by flight control system .By analyzing a flight model , and on the basis of this model , a kind of flight attitude control system based on PID control method was designed and implemen -ted.The whole control system includes quaternion attitude resolving of the first stage ( PI) and throttle calculation of the second stage ( PID) .By fusing the outputs of the acceleration sensor and velocity sensor with PI method , the current flight attitude was calculated out .By fusing the current attitude angle and target attitude angle with PID method , the output values of motors'throttle were set up.The host computer receives flight's data through Bluetooth .Experimental results show that this system can well main-tain the stable attitude of quad-rotor.
