一种油门杆的高精度随动控制方法  

A High-precision Servo Control Method for Throttle

作　　者：吴凡[1,2] 王新华 WU Fan;WANG Xinhua(Nanjing University of Aeronautics and Astronautics,Nanjing 210000,China;Lianyungang JARI Electronic Company Limited,Lianyungang Jiangsu 222006,China)

机构地区：[1]南京航空航天大学自动化学院,南京210000 [2]连云港杰瑞电子有限公司,江苏连云港222006

出　　处：《微电机》2024年第9期37-40,75,共5页Micromotors

摘　　要：随着无人机的升级换代,对自动驾驶的油门控制精度不断提高,本文设计了一种信号滤波算法和PID控制算法实现无人机油门杆高精度随动的控制方法。本设计采用了16位的高精度霍尔传感器,通过16位A/D转换器采集传感器信号,选用4阶IIR滤波器对信号进行滤波,实现了油门杆在任意位置可稳定输出16位分辨率的数据,并通过RS422接口发送给上位机。在随动模式下,本设计采用了PID控制算法,结合步进电机和多级减速齿轮组配合,可以实现油门杆的高精度随动,随动精度达到0.2°,并在某型号无人机上得到了测试验证。With the upgrading and replacement of drones,the accuracy of throttle control for autonomous driving is constantly improving.This paper designed a signal filtering algorithm and PID control algorithm to achieve high-precision servo control of drone throttle lever.This design used a 16 bit high-precision Hall sensor,which collected sensor signals through a 16 bit A/D converter.A 4th order IIR filter was used to filter the signal,achieving stable output of 16 bit resolution data at any position of the throttle lever,which was sent to the upper computer through the RS422 interface.In the follow-up mode,this design adopted PID control algorithm,combined with stepper motor and multi-stage reduction gear group,to achieve high-precision follow-up of the throttle lever,with a follow-up accuracy of 0.2°.It has been tested and verified on a certain model of unmanned aerial vehicle.

关 键 词：油门杆 IIR滤波器 PID控制 随动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]