基于DSP四旋翼飞行器姿态控制系统硬件设计

摘要

The attitude control system is the key of quadrotor, which is a six degrees of freedom and four inputs under-actuated system. The hardware of attitude control system is designed based on DSP . TMS320F28335 is used as the main processor. The ADIS16355 inertial measurement unit is adopted for attitude information detection, while the distance is estimated with the ultrasonic sensor. The indoor test results show that the hardware system is reliable and can meet require of the attitude control system.%姿态控制是具有六自由度四输入欠驱动系统的四旋翼飞行器飞行控制系统的核心,文章基于DSP对飞行器的姿态控制系统进行硬件设计.设计采用TMS320F28335作为主控制器,使用ADIS16355惯性测量单元进行姿态信息检测,超声波传感器进行高度的测量.多次室内实验表明,所设计硬件系统性能可靠,满足飞行器姿态控制的要求.