四旋翼微型飞行平台姿态稳定控制试验研究

摘要

The attitude stabilization control of quadrotor is studied using real time flight test results. An equivalent model of quadrotor is obtained which is simulated in Matlab with a PID controller. Based on the simulation results, control system is implemented for the designed prototype quadrotor. The embedded controller TMS320F2808 is used for quadrotor with supporting sensor module MIN-INA900. By fixing each roll, pitch and yaw channel and using all the 6 degrees of freedom together, the attitude response of the real time quadrotor is obtained. Test results show that the results are implemented with a PID controller.%对四旋翼飞行平台姿态稳定控制进行了试验研究,建立了数学模型,在Matlab环境下使用PID控制器进行了模拟仿真研究.基于仿真结果,设计了以TMS320F2808为核心处理器,以MIN-INA900为飞行平台测姿传感组件的飞行试验平台,进行了单通道系留试验和六自由度试验,试验结果表明:PID控制器能够实现对飞行平台姿态的控制.