摘要
本设计是绍兴市大学生科技创新项目。四轴飞行器作为低空低成本的遥感平台,在各个领域应用广泛。其驱动系统有四个输入却有六个输出,所以它是一个非线性,高度耦合,欠驱动系统。本文介绍四轴飞行器的一个实现方案,设计了一种用加速度传感器矫正陀螺仪零点漂移的方法,并且用PID控制器去控制四个电机的转速来实现稳定飞行。
Quadcopter is a low-cost low-altitude remote sensing platforms, which widely used in various fields.Its drive system has four inputs but has six outputs, so it is a non-linear, highly coupled, underactuated system.This paper describes an implementation of the quadcopter, Designed a gyro acceleration sensor to correct gyroscope drift method, and use the PID controller to control four of the motor speed to achieve stable flight.
出处
《数字技术与应用》
2014年第8期182-183,共2页
Digital Technology & Application
