基于PWM的四旋翼飞行器控制方法

J4 ›› 2011, Vol. 29 ›› Issue (5): 464-472.

基于PWM的四旋翼飞行器控制方法

李秀英|刘彦博

吉林大学电子科学与工程学院| 长春 130012

出版日期:2011-09-24 发布日期:2011-11-29
作者简介:李秀英（1971—）|女|长春人|吉林大学副教授|硕士生导师|主要从事信号与系统、数字信号处理、嵌入式系统应用研究|(Tel)86-431-85095828(E-mail)xiuying@jlu.edu.cn
基金资助:
长春市创新基金资助项目(10zc04)

Control of Four-Rotor Aircraft Based on PWM

LI Xiu-ying, LIU Yan-bo

College of Electronic Science and Engineering, Jilin University, Changchun 130012,China

Online:2011-09-24 Published:2011-11-29

摘要/Abstract

摘要：

为实现四旋翼飞行器稳定可靠性飞行控制，提出了以ATMEL公司AVR微控制器为核心IC(Intergrated Circuit)的MCU(Micro Control Unit)四旋翼飞行器控制系统。该系统由以无刷直流电机为动力核心的动力驱动系统、以微控制器及陀螺仪为核心的核心控制系统、以2.4 GHz的无线遥控接收器为核心的无线遥控控制系统组成。采用脉冲宽度调制(PWM:Pulse Width Modulation）信号控制四旋翼控制动力驱动模块。通过对四旋翼工作模式与控制参数的研究，得到相应的控制算法，然后编程实现、模拟相应的飞行姿态。实验结果表明，四旋翼飞行器能稳定悬停、转向和三维控制。

关键词: AVR微控制器, 陀螺仪, 无刷直流电机, 脉冲宽度调制

Abstract:

Based on AVR MCU（Micro Control Unit）which is produced by ATMEL company a four-rotor aircraft IC(Intergrated Circuit) control system is proposed for reliable controlflight. Four-rotor aircraft system mainly includes drive system composed by brushless DC motors, master control system composed by the micro-controller and gyroscopes and wireless remote control system composed by the 2.4 GHz wireless remote control receiver. Firstly, the author uses the PWM (Pulse Width Modulation) signal produced by AVR MCU to drive the control module. Secondly, after the analysis of four-rotor aircraft, the author studies control parameters and achieves the corresponding control algorithm. Thirdly, the author programmes to simulate the corresponding flight attitude. Finally, after many experiments the author will achieve a control design for unmanned flight including turn and three-dimensional control.

Key words: avr micro control unit, gyroscope, brushless DC motor, pulse width modulation(PWM)

中图分类号:

TP90

李秀英, 刘彦博. 基于PWM的四旋翼飞行器控制方法[J]. J4, 2011, 29(5): 464-472.

LI Xiu-Yang, LIU Pan-Bo. Control of Four-Rotor Aircraft Based on PWM[J]. J4, 2011, 29(5): 464-472.