摘要
为了解决四旋翼飞行器的飞行控制问题,设计了一种基于位置式比例积分微分(PID)算法的飞行控制系统.该控制系统以MSP430f149处理器为中央处理器,以MPU-6050传感器为惯性测量器件.在搭建的姿态控制平台上,为了实现控制系统的稳定飞行,结合四旋翼飞行器的飞行原理对传感器输出的姿态角进行PID控制,然后将PID控制器的输出信号与电机的基本油门相结合,用以调节4路脉冲宽度调制(PWM)信号占空比的方式来控制电调电路,再由电调驱动电机并控制电机转速.结果表明,俯仰角、横滚角、偏航角的误差均小于1°,验证了PID算法对四旋翼飞行器姿态角控制的有效性,保障了飞行器自稳定控制的鲁棒性.
To solve the problem of quadrotor aircraft＇s flight control ,a flight control system based on an algorithm of position type of proportional integral derivative （ PID ） was designed using the MSP430F149 processor as the core and MPU‐6050 as the inertial measurement device .On the platform which was built for attitude control ,combined with the principle of flight of the quadrotor aircraft ,the stability of the flight control system was realized by using the PID to control the attitude angle output from the sensor .Then the output signals from the PID controller were combined with the basic value of the motors＇throttle to control the electronic speed controller by using the method of adjusting the ratio of four pulse‐width modulatio signals .Finally the motors were driven and the motors＇speeds were con‐trolled by the electronic speed controller .Experimental results show that the deviation of pitch angle , roll angle and yaw angle is less than 1 degree .The PID algorithm is effective to control the attitude an‐gle of the four rotor aircraft ,and the robustness of the aircraft＇s self‐stability control is guaranteed .
出处
《武汉工程大学学报》
CAS
2014年第11期59-62,69,共5页
Journal of Wuhan Institute of Technology
基金
武汉工程大学电气信息学院
关键词
比例微分积分
姿态控制
脉冲宽度调制
电机驱动
proportional integral derivative
attitude control
pulse-width modulation
motor drive
