六轴旋翼碟形飞行器控制系统设计.pdfVIP

56 2010 4 , (贵州大学 电气工程学院, 贵州贵阳 550003) : 本文介绍了一种以6 个无刷直流电机作为动力装置的六轴旋翼碟形旋翼飞行器通过电机的转速来控制飞行器的飞行状 态, 为了实现六轴旋翼碟形飞行器的飞行控制, 对飞行器的控制系统进行了初步设计, 并且给出了以ATMEGA 8535单片机为计算 控制单元, 给出了其控制系统的硬件设计, 由于元器件采用了贴片封装和低功耗的CMO S器件, 使飞行器具有重量轻功耗低体 积小等优点; 本文也论述了硬件系统设计各单元模块的功能及可靠性,从而能够满足飞行器起飞悬停及降落等控制姿态的要求 : 六轴旋翼碟形飞行器 飞行控制系统 AVR单片机 PWM : V249. 1; TP391. 8 : A : 1002- 6886( 2010) 04- 0004- 03 Design ofFlightControlSystem for a SixaxisRotor Saucer ShapedRotorcraft LIU Yufeng, NINGYuan bstract: The s xax s ro to r saucer shaped rotorcraft s ntroduced n th s paper, wh ch s powered by s x motors and fl es state by adjus t ng the speed of the mo to rs. In order to real ze the fl ght control for the s xax s rotor saucer shaped ro to rcraft, the flght contro l system s de s gned prelm nar ly and the hardw are of fl ght contro l system s des gned based on s ng lech p m crocontro ller ATM EGA 8535. Because of n troduc ng the patch package and the low pow erconsumpt on of CMO S for the most e lem ents, consequently the drones has the character st cs of the l ttlewe ght, the low pow erconsumpt on and the sm all vo lum e as so on . T he paper also descr bes eachmodular un t funct on and re lable so that can m eet contro l state requ rement of tak ng off , hover ng and land ng and so on. Key words: s xax s rotor saucer shaped rotorcraft; flght contro l sy stem; AVR s ng lech p m crocontro ller; PWM 0 , , , 1 , 11 , ATMEGA 8ATMEGA 8535 , , / PWM 6 , , , ATMEGA 8535A tmel AVR RISC 8 CMOSATm ega8535 , 8K