基于STC15 MCU的微型四轴飞行器设计  

Design of micro four-axis aircraft based on STC15 MCU

作　　者：高正中[1] 赵晨晖[1] 宋森森[1] 

机构地区：[1]山东科技大学电气与自动化工程学院,山东青岛266590

出　　处：《现代电子技术》2016年第24期145-148,共4页Modern Electronics Technique

基　　金：中国博士后科学基金资助项目(2015T80729);青岛市博士后研究人员应用研究项目(2015190)

摘　　要：微型四轴飞行器属于旋翼式飞行器,具有体积小、结构简单、设计成本低等优点,在军事探测、信息采集、增强通信节点等方面应用广泛。设计采用STC15W4K58S4芯片作为微型四轴飞行器的控制核心,以NRF24L01实现无线遥控通信、MPU6050陀螺仪进行姿态监测,采用互补滤波器原理设计姿态融合算法,同时采用PID增量控制算法调整PWM输出占空比,实现对飞行器电机转速的控制。经过测试可实现对飞行器的姿态控制。The micro four-axis aircraft belongs to the rotary wing type aircraft, has the advantages of small volume, simple structure and low design cost, and is widely used in military detection, information collection, communication nodes enhancement and other fields. The STC15W4K58S4 chip is taken as the control core of the micro four-axis aircraft, the NRF24L01 is adopted to realize the wireless remote control, and MPU6050 gyroscope is employed to monitor the posture. The principle of complementary filter is used to design the posture fusion algorithm. The incremental PID control algorithm is adopted to adjust the output duty cycle of PWM to control the motor speed of the aircraft. The testing result indicates the flight posture of the aircraft can be controlled with the design method,

关 键 词：四轴飞行器 STC15W4K58S4 PID算法 PWM控制 

分 类 号：TP368.1[自动化与计算机技术—计算机系统结构] TP249[自动化与计算机技术—计算机科学与技术]