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针对现阶段四轴飞行器飞行中存在的稳定性问题,通过对互补滤波、四元数、串级PID等技术的研究,设计了一种基于STM32的四轴飞行器飞行系统。该系统采用STM32作为主控芯片,利用9轴传感器(3轴加速度计、3轴陀螺仪、3轴磁力计)GY-86测得原始数据,经过四元数姿态解算得到飞行器的姿态信息,再通过遥控器和主控板进行通信,利用串级PID控制算法驱动无刷电机实现四轴飞行器的稳定飞行。实验测试结果表明:该系统能够保证四轴飞行器的稳定飞行,有很好的实用价值。
Aiming at the stability problems of the quadcopter flying at present, this paper designs a quadcopter flight system based on the research of complementary filtering, quaternion and cascade PID. The system uses STM32 as the master chip, and uses the 9-axis sensor (3-axis accelerometer, 3-axis gyroscope, 3-axis magnetometer) to measure the original data of GY-86. And then communicate with the main control board through the remote control and use the cascade PID control algorithm to drive the brushless motor to realize the stable flight of the quadrocopter. Experimental results show that the system can ensure the stable flight of quadcopter with good practical value.