基于MSP430单片机的四旋翼飞行器控制系统设计  

Design of quad-rotor aircraft control system based on MSP430 MCU

作　　者：汤金萍[1] 周雷[1] 金阿锁 Tang Jinping Zhou Lei Jin Asuo(School of Electrical Engineering, Nantong University, Nantong 226019 ,China)

机构地区：[1]南通大学电气工程学院,江苏南通226019

出　　处：《微型机与应用》2016年第20期9-12,共4页Microcomputer & Its Applications

基　　金：南通大学研究生科研创新计划项目(YKC14022)

摘　　要：四旋翼飞行器是由4个带桨叶电机驱动并形成十字交叉结构的一种飞行器。本试验是以MSP430F149单片机为主控芯片,搭建四旋翼飞行器控制系统。以MPU-6050传感器获取飞行器的姿态信息,经过递推滤波算法,得到可靠的姿态数据,通过四元数融合算法,进行姿态解算,获得四旋翼飞行器的姿态角,然后借助PID控制算法,消除四旋翼飞行器在飞行过程中不可预测的误差,最后,以PWM波的形式控制无刷直流电机,实现四旋翼飞行器的自平稳控制。本试验完成了四旋翼飞行器的自平稳控制系统,能够基本实现四旋翼飞行器的平稳起飞与降落。Quad-rotor aircraft is drived by four motors with blades and forms a cross structure. This experiment takes MSP430F149 as the main chip,and builds a quad-rotor aircraft control system. The MPU-6050 sensor is used to get attitude information of the quad-rotor aircraft. Processing raw data is obtained by recursive filtering algorithm and the reliable attitude angle is got by quaternion algorithm. Then by means of PID control algorithm,the unpredictable error of quad-rotor aircraft in flight is eliminated. Finally,quad-rotor aircraft is controlled smoothly by PWM to control four brushless DC motors. The experiment designs a quad-rotor aircraft control system,and achieves a smooth tack-off and landing.

关 键 词：MSP430 MPU-6050 欧拉角 四旋翼飞行器 闭环控制 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]