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针对无人机的特殊性以及对电机动态性能的要求,设计了一种以ARM芯片LPC2148为核心的旋翼转速控制器。首先分析了直升机的飞行特点以及原旋翼转速控制器的不足,设计基于EKF和矢量控制的新旋翼转速控制器,并对扩展卡尔曼滤波法和矢量控制的模块进行说明,且给出了MATLAB仿真结果,验证了控制系统的正确性。
In view of the particularity of UAV and the requirement of motor dynamic performance, a rotor speed controller based on ARM chip LPC2148 is designed. Firstly, the flight characteristics of the helicopter and the shortage of the rotor speed controller are analyzed. A new rotor speed controller based on EKF and vector control is designed. The modules of extended Kalman filter and vector control are described. The MATLAB simulation As a result, the correctness of the control system is verified.