四轴飞行器姿态控制系统设计_刘峰.pdfVIP

.2 011.19 (3 )　 　 Computer Measurement Control　 ·583 · :1671-4598(2011)03-0583-03　　　　　　:TP249 :A 刘　峰, 吕　强, 王国胜, 王东来 ( , 　100072) :、 、 , ; , , ;stm32 32 , ADIS16355 ;, , ;PID , , , 。 :;;ST M32 Design of Attitude Control System for Quadrotor Liu Feng, L Qiang, Wang Guosheng, Wang Donglai (Department of Control Engineering, Academy of Armored Force Engineering, Beijing　100072, China) Abstract:Quadrotor is a complex sy stem with instability, nonlin ear and high coupling.The attitude control system is the key of quadro- tor.Th e flight theory of qu adrotor is analyzed firstly.Based on th e math ematical m odel and flight control requirement, the attitu de control system of quadrotor is proposed.A 32 bits microprocessor of STM32 series is u sed as th e main processor.The ADIS16355 initial m easure- ment unit and oth er sensors are used for attitude information detection.Based on the m odularized design m ethod, all th e sensors possess of digital interfaces, w hich are simple and easy to commu nicate w ith th e m ain processor.The PID control method w as u sed for attitu de control- ling.The test results show that the qu adrotor is flying stable on the test bed and the sy stem is capable of indoor attitude controlling. Key words:quadrotor;attitu de control;ST M32 0　 4 , 。 , 。 , 4 , 、 、 。 。 , , , 。 , , [1-4] , 。 [ 2] At- mega128 , ,