基于STM32的微型空翻无人机设计  

Design of Micro Flip UAV Based on STM32

作　　者：朱仕权 Zhu Shiquan

机构地区：[1]广东工业大学自动化学院,广东广州510006

出　　处：《工业控制计算机》2023年第9期156-157,共2页Industrial Control Computer

摘　　要：微型无人机通过选择适合的硬件方案、算法,可以实现较好的姿态解算和姿态控制。首先分析了微型无人机的硬件设计,算法上采用计算量小的互补滤波算法来进行姿态解算,接着设计带前馈的双闭环串级PID控制器,实现对无人机的控制。此外,对于无人机空翻动作设计了合适的期望角速度规律作为输入,达到较好的控制效果。By selecting appropriate hardware scheme and algorithm,micro unmanned aerial vehicle(UAV)can achieve better attitude calculation and attitude control.In this paper,the hardware design of the micro UAV is analyzed firstly,and the algorithm uses the small complementary filtering algorithm to solve the attitude.Then,a double closed-loop cascade PID controller with feedforward is designed to realize the control of the UAV.In addition,a suitable expected angular velocity law is designed as input for the UAV somersault action to achieve good control effect.

关 键 词：互补滤波 前馈 PID 空翻 

分 类 号：TP368.1[自动化与计算机技术—计算机系统结构] V279[自动化与计算机技术—计算机科学与技术]