基于AR M的四旋翼姿态控制器设计

摘要

四旋翼姿态控制器采用集成了加速度计和陀螺仪的惯性测量单元，实时采集姿态数据，传输给Cortex－M4内核的处理芯片，利用四元数姿态解算方法，对加速度和角速度数据融合解算处理；采用位置式PID控制算法，控制4个无刷电机的转速，实现控制四旋翼飞行器的飞行姿态；建立万向云台调试系统，通过实践调试验证该控制器能实现控制四旋翼姿态的稳定性；稳定飞行时，姿态角的平均振荡范围为5°。%Four rotor attitude controller adopts the inertial measurement unit which integrated accelerometer with gyro,gather attitude data real-time,then transferred to the Cortex-M4 core processing chips,Using the attitude of quaternion calculation method,the data in-tegration of acceleration and angular velocity is calculated.And use positional PID control algorithm to control four brushless motor speed to achieve controlled four-rotor aircraft flight attitude.Establish universal platform debug system,through the practice of testing to verify controller can achieve the stability control of four rotor profile.The stable flight attitude average oscillation angle range is 5 degree.