| 四旋翼飞行器控制系统研究 |
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| 引用本文： | 胡从坤,余泽宇,陈曦晨.四旋翼飞行器控制系统研究[J].科技广场,2014(6):50-56. |
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| 作者姓名： | 胡从坤 余泽宇 陈曦晨 |
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| 作者单位： | 南昌航空大学软件学院; |
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| 摘 要： | 本文着重就四旋翼飞行器控制系统的硬件组成、结构和软件算法进行研究。介绍了四旋翼飞行器的组成结构和飞行原理,包括四旋翼飞行器的优势和特点以及今后的应用领域;讨论了控制系统的硬件组成结构及其特点,如主控制器MCU芯片的选择、所需传感器种类的确定、数据传输模块的设计和硬件通信协议的分析;研究了姿态解算的方法,包括捷联惯导系统、姿态解算的四元数方法、互补滤波;研究了四旋翼飞行器的控制方法,采用了经典的PID控制方法,设计偏航、俯仰、滚转的三路并行PID控制器。
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| 关 键 词： | 四旋翼 飞控 捷联惯导 四元数 |
Study of Aircraft Control Systems of 4 Rotors Helicopter |
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| Hu Congkun,Yu Zeyu,Chen Xichen.Study of Aircraft Control Systems of 4 Rotors Helicopter[J].Science Mosaic,2014(6):50-56. |
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| Authors: | Hu Congkun Yu Zeyu Chen Xichen |
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| Institution: | ( School of Software, Nanchang Hangkong University, Jiangxi Nanchang 330063 ) |
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| Abstract: | This paper focuses on the study of hardware components, structure and software algorithms of Four-rotor aircraft control system：the paper describes the structure and principles of flight four-rotor aircraft, in-cluding four-rotor aircraft advantages and features as well as future application fields;discusses the hardware com-ponents and characteristics of the control system, such as the choice of the host controller MCU chip, sensor types to determine the required analysis of the data transmission module design and hardware communication protocols;studies the attitude solution methods, including SINS, the attitude quaternion method solver, inertial navigation e-quations;and studies the control methods of four-rotor aircraft, with a classic PID control method designed yaw, pitch, roll of three parallel PID controller. |
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| Keywords: | Four Rotors Aircraft Control Systems SINS Quaternion |
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