基于瑞萨单片机的四旋翼自主飞行器设计  

Design of Flight Controller for Quad-Rotor Based on Renesas MCU

作　　者：柴婷婷[1] 祁艳杰[1] 李斌[1] 

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024

出　　处：《自动化技术与应用》2014年第8期121-124,131,共5页Techniques of Automation and Applications

摘　　要：该四旋翼自主飞行器以瑞萨公司的R 5F 100L E A单片机为控制核心,包括飞行姿态处理模块,超声波测距模块,红外传感器循迹模块,电机驱动模块以及微处理器模块等。飞行姿态处理由M PU 6050加速度计陀螺仪提供,保证飞行器平稳飞行。超声波测距模块和红外传感器循迹模块为飞行器提供导航参数使飞行器可以按照规定航线并以一定高度飞行。本设计中应用了PPM控制方法,PID算法,平滑滤波等,使飞行器实现在一定区域内一键式起飞,稳定飞行,精确降落。并且可以拾取物件,完成空投任务,最终精确降落并停机。The four-rotor autonomous aircraft with Renesas R5F100LEA microcontroller core, completes autonomous flight. The entire flight attitude control system includes processing module, ultrasonic ranging module, infrared sensor tracking modules, driver module, microprocessor module and so on. MPU6050 accelerometer gyroscope provides aircraft current gesture for the entire system, and constitutes aircraft stability augmentation system to ensure precision flight. Ultrasonic ranging module and infrared sensor offer the guidance parameters so that the aircraft can follow a specified route and given altitude. The design of the control method uses the PPM controlling means, PID algorithm and smoothing filtering so the aircraft can achieve one-button open, stable flight, and accurate landing. Moreover, it can pick up objects, and complete airdrop missions, ultimately precision landing and shutdown.

关 键 词：四旋翼飞行器 飞行姿态 PID算法 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]