摘要
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。
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.
出处
《自动化仪表》
CAS
2015年第6期5-7,11,共4页
Process Automation Instrumentation
