基于四轴飞行器的定点投放系统设计  

DESIGN OF FIXED POINT DELIVERY SYSTEM BASED ON THE FOUR AXIS AIRCRAFT

作　　者：盖晓华[1] 张宏伟[1] 何运富 GAI Xiao-hua;ZHANG Hong-wei;HE Yun-fu(Department of Electronics,Nanyang Institute of Technology,Nanyang 473004,Chin)

机构地区：[1]南阳理工学院电子与电气工程学院,河南南阳473004

出　　处：《南阳理工学院学报》2018年第2期34-39,共6页Journal of Nanyang Institute of Technology

基　　金：国家自然科学基金项目(61504072)

摘　　要：本文综合运用传感器技术、遥感技术与控制算法,设计了一种基于四轴飞行器的定点投放系统,可以更有效地实现灾害救援。本系统采用STM32单片机为主控制器,结合姿态传感器、导航传感器、动力以及远程无线通讯部分,完成了系统的硬件设计;软件部分设计了传感器数据采集、惯性测量和姿态角解算、串级PID控制以及定点投放控制程序。试验结果表明,该系统实现了定点投放功能,达到预期目标。Based on sensor technology,remote sensing technology and control algorithm,this paper designs a fixed-point delivery system based on four axis aircraft,which can realize disaster relief more effectively. The system uses STM32 MCU as main controller,combined with the attitude sensor,navigation sensor,power and remote wireless communication parts to complete the hardware design.And the algorithms and program of information acquisition from sensors,IMU attitude algorithm,cascade PID control and fixed-point delivery control are designed for software part. The test results show that the system realized the fixed-point delivery function,which achieved the expected goal.

关 键 词：单片机 姿态解算 串级PID算法 定点投放控制算法 上位机监控 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]