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四旋翼飞行器是当今市场的一个新兴且关注度高的研究方向.PID算法当属四旋翼飞行器的核心部分,优秀的PID算法可以实现稳定的悬停和快速的打舵响应.针对传统的单回路PID控制器的不足设计了一种新的双回路PID控制器,结构上分为主回路和副回路,角速度作为主回路,角度作为副回路,副回路的输出量作为主回路的期望值.并在角度姿态的获取上创新的加入了滤波系统,从而使副回路获得的角度曲线更加稳定和平滑,降低了电机的工作温度,提高了控制精度.控制器采用了STM32F103作为控制核心.该款处理器有配套的DSP库,可以实现FIR滤波器,滤波参数确定于MATLAB的FIR设计工具.经过上机实验说明了新的滤波双回路PID系统不仅悬停十分稳定,对于打舵响应十分迅速,而且具备一定的抗外力干扰能力,满足设计需求.
Quadrotorcraft is a new and interesting research direction in the market today.PID algorithm is a core part of quadrotor and excellent PID algorithm can achieve stable hover and fast rudder response.For the traditional single-loop PID controller deficiencies A new dual-loop PID controller is designed, the structure is divided into the main circuit and the secondary circuit, the angular velocity as the main circuit, the angle as the secondary circuit, the secondary circuit output as the main circuit of the expected value. The attitude of the access to the innovative added to the filter system, so that the secondary circuit obtained angle curve more stable and smooth, reducing the motor operating temperature and improve the control accuracy of the controller using STM32F103 as the control core. Have matched DSP library, FIR filter can be achieved, the filter parameters are determined in MATLAB FIR design tools.After the experiment shows that the new filter double loop PID system is not only very stable hovering, very responsive to the rudder, and have A certain degree of anti-interference ability to meet the design needs.