自动化仪表
自動化儀錶
자동화의표
PROCESS AUTOMATION INSTRUMENTATION
2015年
6期
5-7,11
,共4页
四旋翼飞行器%互补滤波器%姿态解算%STM32%μC/OS-II%PID
四鏇翼飛行器%互補濾波器%姿態解算%STM32%μC/OS-II%PID
사선익비행기%호보려파기%자태해산%STM32%μC/OS-II%PID
Quadmotor%Complementary filter%Posture solver%STM32%μC/OS-II%PID
四旋翼飞行器以其结构简单、运动灵活和操控方便等优点，被广泛应用于各个领域，它具有二阶系统所包含的不稳定性、非线性和较强的耦合性等典型特点。控制系统是四旋翼飞行器设计的难点。针对这一问题，设计以STM32微控制器为硬件平台的控制系统，并搭载μC/OS-II嵌入式系统，结合惯性传感器与互补滤波算法，实现对四旋翼的串级PID控制。试验结果表明，该控制系统具有较强的鲁棒性，对四旋翼具有良好的控制效果。
四鏇翼飛行器以其結構簡單、運動靈活和操控方便等優點，被廣汎應用于各箇領域，它具有二階繫統所包含的不穩定性、非線性和較彊的耦閤性等典型特點。控製繫統是四鏇翼飛行器設計的難點。針對這一問題，設計以STM32微控製器為硬件平檯的控製繫統，併搭載μC/OS-II嵌入式繫統，結閤慣性傳感器與互補濾波算法，實現對四鏇翼的串級PID控製。試驗結果錶明，該控製繫統具有較彊的魯棒性，對四鏇翼具有良好的控製效果。
사선익비행기이기결구간단、운동령활화조공방편등우점，피엄범응용우각개영역，타구유이계계통소포함적불은정성、비선성화교강적우합성등전형특점。공제계통시사선익비행기설계적난점。침대저일문제，설계이STM32미공제기위경건평태적공제계통，병탑재μC/OS-II감입식계통，결합관성전감기여호보려파산법，실현대사선익적천급PID공제。시험결과표명，해공제계통구유교강적로봉성，대사선익구유량호적공제효과。
The quadrotor features many advantages, e. g. , simple structure, flexible movement and ease operation, etc. , so it has been widely applied in various areas. While it also possesses the typical characteristics of second order system, including unstable, non-linear and stronger coupling, thus control system is its design difficulty. Aiming at these problems, the control system is designed with STM32 microprocessor as hardware platform and equipped the μC/OS-II embedded system, the PID cascade control for quadrotor is implemented by combining the inertial sensors and complementary filtering algorithm. The experimental results indicate that this control system possesses stronger robustness and excellent effect for quadrotor.
