The automatic control system quadrocopters

摘要

Automatic control system quadrocopter comprising two blocks, the first block is a control, and includes an electronic computer (PC), which consists of dual microprocessor including an arithmetic logic unit (ALU) and a control unit (CU), is connected with input devices and output external storage device (TSD) and random access memory (RAM), and is connected via the wireless adapter with the second wireless network adapter of the second block, which is a Spanish ADDITIONAL comprising dual microcontroller and including inertial position sensors, the ultrasonic height gauge and stationarily disposed digital avtokalibruemuyu camcorder, characterized in that the position sensors in the second block are three-axis MEMS accelerometer, biaxial MEMS gyro pitch and roll angles and two-axis MEMS gyro yaw angle, and the output permanently located avtokalibruemoy digital camcorder connected to the input dvuhya ernogo microcontroller second block, wherein the dual computer microprocessor first block performs scheduling trajectory quadrocopter based histogram algorithm machine vision system based on a geometrical approach, as well as control the state of the flight with a hybrid combined method, implemented on the basis of the optimized fuzzy controllers position by the method of particle swarm .