一种基于STM32的四旋翼飞行器控制器  

A flight controller for quad-rotor based on STM32

作　　者：郭晓鸿[1] 杨忠[1] 杨成顺[1] 黄宵宁[2] 黄同高[1] 张海黎 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016 [2]南京工程学院电力学院,江苏南京211167 [3]总参四部驻南京地区军代表室,江苏南京210007

出　　处：《应用科技》2011年第7期35-40,共6页Applied Science and Technology

基　　金：国家自然科学基金资助项目(60674100);江苏省高校自然科学基金资助项目(09KJB470002)

摘　　要：针对四旋翼飞行器,设计并实现了一种基于STM32的微型飞行控制器.以新型ARM Cortex-M3内核微处理器STM32作为计算控制单元,对飞行控制器进行了模块化设计,包括主控、惯性测量、执行驱动等单元模块.给出了系统软件设计流程,研究了一种基于分布式融合滤波器的飞行姿态解算方法,并针对四旋翼飞行器的控制特点设计了控制律.实验表明控制器方案合理有效.A micro flight controller for quad-rotor based on STM32 was designed and implemented. The controller worked with the new-fashioned ARM Cortex-M3 micro processor STM32 as its calculation and control unit. And the controller was modularized as main unit, inertial measurement unit and actuator unit. In the paper, the system software flowchart, method for calculating the flight attitude based on distributed fusion filter were proposed as well as the control law in allusion is effective and rational. to the property of quad-rotor. The experiments show that the design of the flight controller

关 键 词：四旋翼飞行器 STM32 飞行器控制器 信息融合 飞行控制 

分 类 号：V247.1[航空宇航科学与技术—飞行器设计] TP391.8[自动化与计算机技术—计算机应用技术]