[1]郭晓鸿,杨忠,杨成顺,等.一种基于STM32的四旋翼飞行器控制器[J].应用科技,2011,(07):35-40.[doi:doi:10.3969/j.issn.1009-671X.2011.07.08]
 GUO Xiaohong,YANG Zhong,YANG Chengshun,et al.A flight controller for quad-rotor based on STM32[J].yykj,2011,(07):35-40.[doi:doi:10.3969/j.issn.1009-671X.2011.07.08]
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一种基于STM32的四旋翼飞行器控制器(/HTML)
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《应用科技》[ISSN:1009-671X/CN:23-1191/U]

卷:
期数:
2011年07期
页码:
35-40
栏目:
自动化技术
出版日期:
2011-07-05

文章信息/Info

Title:
A flight controller for quad-rotor based on STM32
文章编号:
1009-671X (2011) 07-0035-06
作者:
郭晓鸿杨忠杨成顺黄宵宁黄同高张海黎
1.南京航空航天大学 自动化学院,江苏 南京 210016; 2.南京工程学院 电力学院,江苏 南京 211167; 3.总参四部驻南京地区军代表室,江苏 南京 210007
Author(s):
GUO XiaohongYANG ZhongYANG ChengshunHUANG Xiaoning HUAHNG Tonggao ZHANG Haili
1.College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China; 2. Nanjing Institute of Technology, Nanjing 211167, China; 3. Nanjing Area Delegacy Bureau of the Fourth General Stall,Nanjing 210007,China
关键词:
四旋翼飞行器STM32飞行器控制器信息融合飞行控制
Keywords:
quad-rotor STM32 flight controller information fusion flight control
分类号:
V247.1;TP391.8
DOI:
doi:10.3969/j.issn.1009-671X.2011.07.08
文献标志码:
A
摘要:
针对四旋翼飞行器,设计并实现了一种基于STM32的微型飞行控制器.以新型ARM Cortex-M3内核微处理器STM32作为计算控制单元,对飞行控制器进行了模块化设计,包括主控、惯性测量、执行驱动等单元模块.给出了系统软件设计流程,研究了一种基于分布式融合滤波器的飞行姿态解算方法,并针对四旋翼飞行器的控制特点设计了控制律.实验表明控制器方案合理有效
Abstract:
A micro flight controller for quad-rotor based on STM32 was designed and implemented. The controller worked with the new-fashioned ARM Cortex-M3 micro processor STM32 as its calculation and control unit. And the controller was modularized as main unit, inertial measurement unit and actuator unit. In the paper, the system software flowchart, method for calculating the flight attitude based on distributed fusion filter were proposed as well as the control law in allusion to the property of quad-rotor. The experiments show that the design of the flight controller is effective and rational.

参考文献/References:

[1]杨明志,王敏. 四旋翼微型飞行器控制系统设计[J].计算机测量与控制,2008,16(4): 485-490.
[2]POUNDS P, MAHONY R, HYNES P, et al. Design of four-rotor aerial robot[C]// Australasian Conference on Robotics and Automation. Auckland: New Zealand, 2002: 145-150.
[3]陈丽.基于三维磁探测的弹丸姿态角检测技术研究[D].南京:南京理工大学, 2009:15-36.
[4]BOUABDALLAH S, SIEGWART R. Full control of a quadrotor[C]// Proceeding of IEEE/RSJ International Conference on Intelligent Robots and Systems. San Diego, USA, 2007: 104-183.
[5]邓自立.信息融合滤波理论及其应用[M].哈尔滨:哈尔滨工业大学出版社,2007: 368-390.
[6]SIKIRIC V. Control of quadrocopter[D].Stockholm: Royal Institute of Technology, 2008: 8-30.
[7] HOFFMANN G M, HUANG H M, WASLANDER S L, et al. Quadrotor helicopter flight dynamics and control: theory and experiment[C]//Proceedings of the AIAA Guidance. Nawigation, and Control Conference. Hilton Head, USA, 2007: 6461-6481.

相似文献/References:

[1]张忠民,丛梦苑.基于线性二次调节器的四旋翼飞行器控制[J].应用科技,2011,(05):38.[doi:10.3969/j.issn.1009-671X.2011.05.09]
 ZHANG Zhongmin,CONG Mengyuan.Controlling quadrotors based on linear quadratic regulator[J].yykj,2011,(07):38.[doi:10.3969/j.issn.1009-671X.2011.05.09]

备注/Memo

备注/Memo:
国家自然科学基金资助项目(60674100); 江苏省高校自然科学基金资助项目(09KJB470002)
更新日期/Last Update: 2011-09-21