论文部分内容阅读
微型四轴飞行器属于旋翼式飞行器,具有体积小、结构简单、设计成本低等优点,在军事探测、信息采集、增强通信节点等方面应用广泛。设计采用STC15W4K58S4芯片作为微型四轴飞行器的控制核心,以NRF24L01实现无线遥控通信、MPU6050陀螺仪进行姿态监测,采用互补滤波器原理设计姿态融合算法,同时采用PID增量控制算法调整PWM输出占空比,实现对飞行器电机转速的控制。经过测试可实现对飞行器的姿态控制。
Micro-quadcopter is a rotorcraft with advantages of small size, simple structure and low design cost. It is widely used in military exploration, information collection and enhanced communication nodes. The design adopts STC15W4K58S4 chip as the control core of the miniature quadrocopter, realizes wireless remote control communication with NRF24L01, the attitude monitoring of the MPU6050 gyroscope, adopts the principle of complementary filter to design attitude fusion algorithm, and adjusts the PWM output duty cycle by using PID incremental control algorithm , To achieve control of the aircraft motor speed. Tested to achieve attitude control of the aircraft.