共轴双桨球形飞行器的控制系统设计  

Control System of Coaxial Spherical Aircraft

作　　者：张辉[1] 黄祥斌[1] 韩宝玲[1] 张晨[2] 吴帆[2] 

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京理工大学机电学院

出　　处：《单片机与嵌入式系统应用》2015年第12期74-77,共4页Microcontrollers & Embedded Systems

摘　　要：主要介绍为共轴双桨球形飞行器设计的基于STM32微控器的控制系统。通过对飞行器的结构组成和控制要求的分析,对电路设计进行了整体布局和规划,然后详细设计了球形飞行器控制器的各组成部分。完成电路设计后,对飞行器进行了简单的分析,将惯性测量单元输出的四元数直接转换成欧拉角,对飞行器的俯仰、横滚和偏航3个通道进行PID控制。室外飞行试验结果表明,该控制系统能够在室外环境中使飞行器达到飞行平稳、可控性好的效果。This paper introduces the design of the coaxial spherical aircraft control systems. After analyzing the structure and control re quirements of the aircraft, the overall layout and planning of the circuit design are carried out, and the various components of the spherical aircraft controller is designed. After completing the circuit design of the aircraft, the quaternion outputted by the inertial sensor is directly converted into the Euler angle to do PID control/or the pitch,roll and yaw of the aricraft. The outdoor flight tests prove that the control system can control the aircraft well in the outdoor environment.

关 键 词：STM32微控器 共轴双桨球形飞行器 PID控制 飞行试验 

分 类 号：V249.12[航空宇航科学与技术—飞行器设计]