论文部分内容阅读
近些年来智能硬件蓬勃发展,而作为智能硬件中一颗耀眼的明星,四轴飞行器也越来越贴近我们的生活。伴随着电子科技的进步和自动化控制理论的完善,四轴飞行器所具有的功能越来越多,也越来越多的能承担人类赋予它的任务。最开始的四轴飞行器诞生于1907年的法国,是Breguet兄弟制造的。但由于当时技术的限制,当时的四轴飞行器无法克服操作复杂度高,系统鲁棒性极差等缺点,在诞生的上个世纪一直没有得到很好的发展。但如今随着卡尔曼滤波算法提出,高精度的陀螺仪和高性能的主控芯片的问世。使得四轴飞行器无论在控制复杂度、可靠性和生产成本上都有很大的改善。为其大规模生产及投入使用提供了可能。本文主要介绍了利用STM32作为主控芯片,陀螺仪MPU6050为主要测量部件。设计一架四轴飞行器的过程。本文主要从各部件的特性,实现原理,算法控制等方面讲解了从建模到设计一架四轴飞行器这一过程。
In recent years, smart hardware has been booming, and as a dazzling star in smart hardware, quadcopter is getting closer to our life. With the advancement of electronic technology and the improvement of automatic control theory, quadrocopter has more and more functions and more and more people can undertake the task entrusted by human beings. The first quadcopter was born in France in 1907 and was made by the Breguet brothers. However, due to the limitation of technology at that time, the quadcopter was unable to overcome the shortcomings of high operation complexity and poor system robustness at that time, and it had not been well developed in the last century of its birth. But now with the Kalman filter algorithm proposed, high-precision gyro and high-performance master chip come out. Making the four-axis aircraft in terms of control complexity, reliability and production costs have greatly improved. For its large-scale production and put into use possible. This article describes the use of STM32 as the main control chip, gyroscope MPU6050 as the main measurement components. Design a four-axis aircraft process. This article mainly explains the process from modeling to designing a quadrocopter in terms of the characteristics of each component, the realization principle and algorithm control.