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针对四旋翼无人机飞行姿态测量易受干扰、姿态解算和姿态控制输出误差大等问题,以飞行姿态稳定控制为目标,设计了一种基于STM32系列微控制器的X型四旋翼无人机。采用以双处理器、双陀螺仪和双加速度计为主的硬件架构,实时采集无人机飞行姿态信息,并结合基于四元数的互补滤波算法和串级PID控制算法对姿态信息分别进行解算和控制输出。实验结果显示:小角度扰动下,双陀螺仪和双加速度计姿态测量精度高,合理设置双环PID参数后,姿态角输出误差小。结果表明:双传感器硬件架构在姿态测量中的抗干扰性更强,设计的X型四旋翼无人机飞行性能较好,达到飞行姿态稳定控制的目的。研究结果对后续飞行控制系统的深入研究具有一定的指导作用。
In order to solve the problem that the flight attitude measurement of quadrotor UAV is susceptible to interference, the attitude calculation and the attitude control output error are large, aiming at the flight attitude stability control, an X-type quadrotor based on STM32 series microcontroller is designed. machine. The dual-processor, dual gyroscope and dual-accelerometer based hardware architecture is used to collect the attitude information of UAV in real time. The attitude information is reconstructed by combining quaternion-based complementary filtering algorithm and cascade PID control algorithm Calculate and control the output. The experimental results show that the attitude measurement accuracy of dual gyroscope and double accelerometer is high under small-angle perturbation. The output error of attitude angle is small when the double-loop PID parameters are reasonably set. The results show that the dual-sensor hardware architecture is more robust in attitude measurement, and the designed X-quadrotor UAV has good flight performance and achieves the purpose of stable flight attitude control. The result of the research has some guidance to the further research of flight control system.