基于ARM内核单片机的四旋翼直升机飞行控制系统设计  

A design for flight control system of four-rotor helicopter based on MCU with core of ARM

作　　者：叶文伟[1,2] 刘琨[1] 李中健[1] 

机构地区：[1]西北工业大学自动化学院 [2]中国人民解放军92261部队

出　　处：《电子设计工程》2013年第13期79-82,共4页Electronic Design Engineering

摘　　要：四旋翼直升机具有4个呈交叉结构排列的螺旋桨,其独特的构型能够满足复杂环境中的任务需求。文中设计了一种四旋翼直升机飞行控制系统软硬件方案,通过传感器实时采集四旋翼的姿态、高度、位置等信息,采用PID算法设计飞行控制律,以ARM Cortex-M3内核高性能单片机作为主控制器。最后采用CVI开发的地面站软件实现在线数据采集与调参,并通过实际飞行验证了本方案的可行性与稳定性。Four-rotor helicopter has four propellers with cross-structure, whose unique configurations can meet the demands of tasks in complex environment. In this paper, a flight control system of four-rotor helicopter is designed with software and hardware solution. The information of four-rotor helicopter＇s attitude, height and position was collected by sensors in real-time; the flight control law was designed by PID algorithm; and a high performance MCU with core of ARM Cortex-M3 was selected to be the main controller. At last, the ground station software was designed by CVI for online data acquisition and parameter adjusting. The flight experiment shows the design with viability and stability.

关 键 词：四旋翼直升机 飞行控制 单片机 惯性导航系统 

分 类 号：V249.122[航空宇航科学与技术—飞行器设计]