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[1]易先军,周敏,谢亚奇.四旋翼飞行器控制系统的设计与实现[J].武汉工程大学学报,2014,(11):59-62.[doi:103969/jissn167428692014011011]
　YI Xian jun,ZHOU Min,XIE Ya qi.Design and implementation of quadrotor aircraft’s control system[J].Journal of Wuhan Institute of Technology,2014,(11):59-62.[doi:103969/jissn167428692014011011]
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四旋翼飞行器控制系统的设计与实现(/HTML)
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《武汉工程大学学报》[ISSN:1674-2869/CN:42-1779/TQ]

卷:
期数:
2014年11期
页码:
59-62
栏目:
机电与信息工程
出版日期:
2014-11-30

文章信息/Info

Title:
Design and implementation of quadrotor aircraft’s control system
文章编号:
16742869(2014)011005905
作者:
易先军; 周敏; 谢亚奇
武汉工程大学电气信息学院，湖北 武汉 430205
Author(s):
YI Xianjun;  ZHOU Min;  XIE Yaqi
School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, China
关键词:
-
Keywords:
proportional integral derivative;  attitude control;  pulsewidth modulation; motor drive
分类号:
TP311
DOI:
103969/jissn167428692014011011
文献标志码:
A
摘要:
为了解决四旋翼飞行器的飞行控制问题，设计了一种基于位置式比例积分微分(PID)算法的飞行控制系统.该控制系统以MSP430f149处理器为中央处理器，以MPU6050传感器为惯性测量器件.在搭建的姿态控制平台上，为了实现控制系统的稳定飞行，结合四旋翼飞行器的飞行原理对传感器输出的姿态角进行PID控制，然后将PID控制器的输出信号与电机的基本油门相结合，用以调节4路脉冲宽度调制（PWM）信号占空比的方式来控制电调电路，再由电调驱动电机并控制电机转速.结果表明，俯仰角、横滚角、偏航角的误差均小于1°，验证了PID算法对四旋翼飞行器姿态角控制的有效性，保障了飞行器自稳定控制的鲁棒性.
Abstract:
To solve the problem of quadrotor aircraft’s flight control, a flight control system based on an algorithm of position type of proportional integral derivative (PID) was designed using the MSP430F149 processor as the core and MPU6050 as the inertial measurement device. On the platform which was built for attitude control, combined with the principle of flight of the quadrotor aircraft, the stability of the flight control system was realized by using the PID to control the attitude angle output from the sensor. Then the output signals from the PID controller were combined with the basic value of the motors’ throttle to control the electronic speed controller by using the method of adjusting the ratio of four pulsewidth modulatio signals. Finally the motors were driven and the motors’ speeds were controlled by the electronic speed controller. Experimental results show that the deviation of pitch angle, roll angle and yaw angle is less than 1 degree. The PID algorithm is effective to control the attitude angle of the four rotor aircraft, and the robustness of the aircraft’s selfstability control is guaranteed.

参考文献/References:

［1］李俊,李运堂. 四旋翼飞行器的动力学建模及PID控制［J］.辽宁工程技术大学学报：自然科学版,2012,31(1)：114117.LI Jun, LI Yuntang. Modeling and PID control for a quadrotor［J］. Journal of Liaoning Technical University：Natural Science Edition, 2012,31(1)：114117.(in Chinese)［2］宿敬亚,攀鹏辉,蔡开元.四旋翼飞行器的非线性PID姿态控制［J］.北京航空航天大学学报,2011，37(9)：10541058. SU Jingya, PANG Penghui, CAI Kaiyuan. Attitude control of quadrotor aircraft via nonlinear PID［J］. Journal of Beijing University of Aeronautics and Astronautics, 2011，37(9)：10541058. (in Chinese)［3］江杰,岂伟楠. 四旋翼飞行器建模与PID控制器设计［J］.电子设计工程,2013,23(21)：147150.JIANG Jie, QI Weinan. Modeling and PID control for a quadrotor［J］. Electronic Design Engineering, 2013, 23(21)：147150. (in Chinese)［4］刘杰. 四轴飞行器的研究与设计［D］.南京:南京邮电大学,2013.LIU Jie. Fouraxis aircraft research and design［D］. Nanjing：Nanjing University of Posts and Telecommunications, 2013. (in Chinese). （下转第69页）

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备注/Memo

备注/Memo:
收稿日期：20141011作者简介：易先军（1975），男，湖北公安人，副教授.研究方向：计算机测量与控制.
更新日期/Last Update: 2014-12-10