基于FPGA的无人机电机控制方法研究与实现

摘要

为了研究无人机电机控制方法,提高无人机动态性能,本文基于FPGA控制芯片提出了一种无人机电机控制系统设计方案.本文将模糊PID控制理论与卡尔曼滤波算法相结合,通过对响应速度、精度进行调整优化,设计了以FPGA为主控芯片的电机控制系统,从而使无人机的动态特性得以改善.经过软件仿真实验,该种控制方案与单纯使用传统PID或是自适应PID相比较,其速度与精度都有明显提高,并可以有效的抑制干扰噪声.通过电机测试实验表明,该系统对速度变化时电机产生的抖动与噪声也有较好的抑制作用.%In order to study the UAV motor control method and improve the dynamic performance of UAV,this paper presents a design scheme of UAV motor control system based on FPGA control chip.The fuzzy PID control theory and Kalman filter algorithm are combined through the response speed and precision of optimization design of the motor control system using FPGA as the main control chip,so that the dynamic characteristics of the UAV can be improved.After the software simulation experiment,this kind of control scheme is compared with the traditional PID or the adaptive PID,the speed and the precision of this kind of control are obviously improved,and the interference noise can be suppressed effectively.The test results show that the system has a better effect on the vibration and noise of the motor when the speed changes.