四轴飞行器姿态控制系统设计

摘要

Quadrotor is a complex system with instability, nonlinear and high coupling, The attitude control system is the key of quadrotor, The flight theory of quadrotor is analyzed firstly.Based on the mathematical model and flight control requirement, the attitude control system of quadrotor is proposed.A 32 bits microprocessor of STM32 series is used as the main processor, The ADIS16355 initial measurement unit and other sensed for attitude information detection.Based on the modularized design method, all the sensors possess of digital interfaces, which are simple and easy to communicate with the main processor.The PID control method was used for attitude controlling, The test results show that the quadrotor is flying stable on the test bed and the system is capable of indoor attitude controlling.%四轴飞行器具有不稳定、非线性、强耦合等特性,姿态控制是四轴飞行器飞行控制系统的核心;通过分析四轴飞行器的飞行原理,根据其数学模型和系统的功能要求,设计了四轴飞行器的姿态控制系统;该系统采用stm32系列32位处理器作为主控制器,使用ADIS16355惯性测量单元等传感器用于姿态信息检测;系统基于模块化设计的思想,各传感器都使用数字接口进行数据交换,结构简单;使用PID控制算法进行姿态角的闭环控制,实验结果表明,飞行器能较好的稳定在实验平台上,系统满足四轴飞行器室内飞行姿态控制的要求.