摘要
四旋翼飞行器具有体积小、质量轻、稳定性好等特点,具备广泛的军用和民用应用价值。而飞行器的远程操控模式易受到外部环境因素影响,因此开发一种基于四旋翼飞行器的自主定轨飞行系统,使飞行器在不需要人为操控的情况下自主定轨飞行,有着重要的实用价值和工程意义。基于STM32处理器的Crazepony mini四旋翼,对其硬件组成及四旋翼飞行器飞行原理进行分析;通过获取实时数据并进行姿态解算,对控制量进行PID计算;最后将输出量转化为PWM信号,控制各个电机实现四旋翼飞行器的定轨飞行。
Quad-rotor umnaxmed aerial vehicle is file simplest and most popular one kind of tJae multi-rotor aircraft. It processed great potentials in military, civil and technology fields because of its excellent characteristics such as small volume, light weight, stable vertical takeoff and landing, etc. Therefore, the orbital flight system based on Quad-rotor umnaxmed aerial vehicle platform was developed in flais paper. The Quad-rotor unmanned aerial vehicle based on STM32 processor is selected as flae research platform. The flight control codes axe rewritten. By obtaining real time data and calculating attitude, flae control quantity is calculated by PID, mad file output is converted to PWM signal, so fflat each motor cml realize file orbit determination of four rotor aircraft, which makes the aircraft wifflout file need for mmleuvering fly file scheduled trajectory autonomously, and obtain effective information or complete certain tasks by airborne equipment
作者
张瑞
Zhang Rui(Luoyang Vocation College of Science and Technolog)
出处
《自动化与信息工程》
2018年第3期16-21,共6页
Automation & Information Engineering
