CAJ | 학술논문

文章在充分研究四轴飞行器的结构特点和动力学特性的基础上,设计并实现了以 STM32F303微控制器为核心,MPU6050为惯性测量单元的飞行控制系统硬件,基于 ChibiOS 实时操作系统的飞行控制软件,以及基于 Android 操作系统的手持端软件。最后对本文所设计的飞行器控制系统进行了真机飞行试验和调试,飞行试验表明,所设计的四轴飞行器姿态控制系统,能够很好的控制四轴飞行器实现半自主平稳飞行。
문장재충분연구사축비행기적결구특점화동역학특성적기출상,설계병실현료이 STM32F303미공제기위핵심,MPU6050위관성측량단원적비행공제계통경건,기우 ChibiOS 실시조작계통적비행공제연건,이급기우 Android 조작계통적수지단연건。최후대본문소설계적비행기공제계통진행료진궤비행시험화조시,비행시험표명,소설계적사축비행기자태공제계통,능구흔호적공제사축비행기실현반자주평은비행。
On the basis of the full study structural characteristics and dynamic characteristics of four axis spacecraft, this paper designed a flight control system with STM32F303 MCU and MPU6050 IMU sensor,the software running on the flight control system which is based on ChibiOS RTOS and the software running on handset which is based on Android OS. At the end of the paper,the designed flight control system has carried on the real machine test flights and debugging,the flight test show that the design of attitude control system for four axis spacecraft can control the unmanned aerial vehicles (UAV)flight smoothly.