四轴飞行器姿态控制系统设计

四轴飞行器具有不稳定、非线性、强耦合等特性,姿态控制是四轴飞行器飞行控制系统的核心 通过分析四轴飞行器的飞行

原理,根据其数学模型和系统的功能要求,设计了四轴飞行器的姿态控制系统 该系统采用stm32系列32位处理器作为主控制器,使用

ADIS16355惯性测量单元等传感器用于姿态信息检测 系统基于模块化设计的思想,各传感器都使用数字接口进行数据交换,结构简

单 使用PID控制算法进行姿态角的闭环控制,实验结果表明,飞行器能较好的稳定在实验平台上,系统满足四轴飞行器室内飞行姿态

控制的要求。

-Four axis is instability, nonlinear, strong coupling and other features, four axis attitude control is the core of the aircraft flight control system　By analyzing the four axis aircraft flight principle, according to its mathematical model and the function of the system, designed the four axis spacecraft attitude control system　The system USES stm32 series of 32-bit processor as the main controller, using ADIS16355 sensors such as inertial measurement unit are used in attitude information detection　System based on the idea of modular design, each sensor using the digital interface for data exchange, structure is simple　For closed-loop control of attitude Angle using PID control algorithm, experimental results show that the craft can better stability in the experimental platform, the system meet the requirements of four axis aircraft flying indoor attitude control.