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针对四轴飞行器控制实时性较差的问题,提出了一种利用移植实时操作系统的STM32单片机进行飞行器控制的解决方案.以32位ARM(Advanced RISC Machines)微控制器STM32F103CB单片机作为飞行器的控制芯片,采用四元数结合PID(proportion,integral&derivative)控制算法并利用RTX(Real-Time e Xtension)实时操作系统对四轴飞行器进行姿态控制,同时使用多传感器并发处理技术实现了四轴飞行器的数据采集.实验表明,本设计实现了四轴飞行器上,控制信号和电池电量数据的双向、快速传输,获取的姿态信息精度高,四轴飞行器姿态角更新更迅速且易操作,提高了飞行器运行的稳定性,具有实时性.
In order to solve the problem of poor real-time control of quadrocopter, this paper presents a solution to the aircraft control using the STM32 microcontroller with real-time operating system.With 32-bit ARM (Advanced RISC Machines) microcontroller STM32F103CB microcontroller as the control chip , The quadrilateral combined with proportional (integral) derivative control algorithm and real-time operating system (RTX) real-time operating system is used to control attitude of four-axis aircraft. At the same time, multi-sensor concurrent processing technology is used to realize data acquisition of quadcopter The experiment shows that the design realizes the bi-directional and rapid transmission of the control signals and the battery power data of the quadcopter, the obtained attitude information is of high precision, the attitude angle of the quadcopter is updated more rapidly and easily, and the stability of the aircraft operation is improved Sexual, real-time.