四旋翼飞行器控制器的设计  

The Design of Four Rotor Aircraft Controller

作　　者：曹雪甫 程宇鹏[1] 张岩[1] 汪亚楠[1] 

机构地区：[1]东北林业大学机电工程学院,哈尔滨150040

出　　处：《现代科学仪器》2015年第4期66-71,共6页Modern Scientific Instruments

摘　　要：为实现四旋翼飞行器的自主飞行,本系统以MSP430F6638作为四旋翼飞行器主控芯片,由电机调速控制模块、飞行器控制模块、传感器检测模块、电源模块等构成.在动力学模型的基础上,将四旋翼飞行器实时线性控制算法分为两总路PID闭环控制,即位置控制回路和姿态控制回路,来完成姿态调整和自主悬停.最终通过单片机输出PWM波控制4个直流无刷电机转速来实现飞行器飞行及定高.经大量测试,结果表明本系统可通过各个模块的配合实现对电机的精确控制,具有定位误差小、速度快、运行较稳定等特点.In order to achieve autonomous flight of the four rotor aircraft, the system, which takes MSP430F6638 as the main control chip of the four rotor aircraft, is composed of motor speed control module, flight control module, sensor detection module, power module and so on. Based on the dynamic model, the four rotor aircraft real time linear control algorithm is divided into two general Lu PID closed-loop control loops, which is the position control loop and the attitude control loop respectively, to complete the attitude adjustment and autonomous hovering. Finally 4 DC brush less motor rpm was controlled by PWM wave outputed by the SCM to achieve flight and high. After extensive testing, the results showed that the system can achieve precise control of the motor through the cooperation of each module, and has the characteristics of small positioning error, run fast and stable.

关 键 词：MSP430F6638 姿态解算 PID控制 硬件电路 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]