摘要
目前传统四旋翼在空中经常受到人为或环境中不确定因素干扰,如果地面控制站不能更直观地显示无人机的实时姿态、位置,飞行中四旋翼无人机容易偏离跟踪的既定路线,无法躲避障碍物,甚至出现姿态不稳导致的无人机损坏。针对此情况,设计开发了一种基于STM32F103RCT6嵌入式微处理器的四旋翼无人机路径跟踪控制系统。详细阐述了该集成控制系统的硬件总体框架、各模块电路设计、软件程序工作流程,利用Matlab2019b仿真软件进行四旋翼无人机的路径跟踪算法仿真实验以确保系统的稳定性和可行性,并以四旋翼样机为实验对象进行了实物测控实验。实验结果表明,所设计的控制系统可以实现自主飞行和轨迹跟踪的期望目标,地面控制站显示界面中可以实时显示四旋翼无人机的实时跟踪路径、姿态角、航速和高度等传感器信息,系统具有一定的实用性。
At present,the traditional quadrotor is often disturbed by human or environmental uncertainties in the air.If the ground control station can not display the real-time attitude and position of the UAV more intuitively,the quadrotor UAV is easy to deviate from the established tracking route in flight,unable to avoid obstacles,and even damage the UAV caused by unstable attitude.Aiming at this situation,a path tracking control system for quadrotor UAV based on STM32F103RCT6 embedded microprocessor was designed and developed.The overall framework of hardware,the circuit design of each module and the software program workflow of the integrated control system were described in detail,and the path tracking algorithm simulation experiment of quadrotor UAV was carried out by using Matlab2019b simulation software to ensure the stability and feasibility of the system.Finally,the real-time measurement and control experiments were carried out on the quadrotor prototype.The results show that the designed control system can achieve the desired goal of autonomous flight and trajectory tracking,and the real-time tracking path,attitude angle,speed and altitude of the quadrotor UAV can be displayed in the display interface of the ground control station.The system has certain practicability.
作者
阚亚雄
Kan Yaxiong(College of Modern Equipment Manufacturing,Zhenjiang College,Zhenjiang,Jiangsu 212028,China)
出处
《机电工程技术》
2021年第10期156-159,179,共5页
Mechanical & Electrical Engineering Technology
