论文部分内容阅读
变桨距四旋翼飞行器是通过改变旋翼的桨距大小来改变升力的,这种控制策略可使飞行器姿态的响应和控制的延迟都会小很多,同时可以节省资源和能耗。通过分析对比变桨距与传统的变转速四旋翼飞行器的结构和飞行原理,根据其数学模型和控制要求,设计了变桨距四旋翼飞行器的控制系统。该系统采用STM32F427微处理器作为主控制器,使用MPU6000等惯性测量单元及其他传感器用于检测飞行器的位置、姿态;基于四元数方法进行姿态解算;利用PID控制算法对飞行器姿态、高度进行闭环控制。试飞结果表明,变桨距四旋翼飞行器能够稳定飞行,满足系统要求。
Pitch four-rotor aircraft is to change the pitch by changing the size of the rotor lift, this control strategy can make the aircraft attitude response and control of the delay will be much smaller, while saving resources and energy consumption. By analyzing the structure of pitch propeller and conventional variable speed four-rotor aircraft and the principle of flight, a control system of pitch-controlled quadrotor was designed according to its mathematical model and control requirements. The system uses the STM32F427 microprocessor as the main controller, the use of MPU6000 inertial measurement unit and other sensors used to detect the position and attitude of the aircraft; based on the quaternion method for attitude solution; the use of PID control algorithm on the aircraft attitude and height Closed-loop control. Test results show that the pitch four-rotor aircraft to a stable flight to meet system requirements.