摘要
飞行控制系统很大程度上决定了四旋翼飞行器的飞行性能。分析飞行器模型,并在此基础上设计实现一种基于PID(Proportion,Integration,Differentiation)控制方法的飞行器姿态控制系统。整个控制系统包括第1阶段的四元数姿态解算(PI)和第2阶段的油门计算(PID)。通过PI方法融合加速度和角速度传感器的输出,计算出飞行器当前的姿态角;通过PID方法融合当前姿态和目标姿态控制电机油门输出。上位机通过蓝牙获取飞行器数据,结果显示该系统能很好地保持飞行器的稳定姿态。
The performance of quad-rotor flight has been largely determined by flight control system .By analyzing a flight model , and on the basis of this model , a kind of flight attitude control system based on PID control method was designed and implemen -ted.The whole control system includes quaternion attitude resolving of the first stage （ PI） and throttle calculation of the second stage （ PID） .By fusing the outputs of the acceleration sensor and velocity sensor with PI method , the current flight attitude was calculated out .By fusing the current attitude angle and target attitude angle with PID method , the output values of motors＆#39;throttle were set up.The host computer receives flight＆#39;s data through Bluetooth .Experimental results show that this system can well main-tain the stable attitude of quad-rotor.
出处
《计算机与现代化》
2015年第5期117-120,共4页
Computer and Modernization
关键词
四旋翼飞行器
姿态解算
飞行控制系统
PID
PID
quad-rotor aircraft
attitude resolving
flight control system
