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基于ARM和AVR的四旋翼飞行器硬件设计

发表时间:2012-04-30  浏览量:1965  下载量:1170
全部作者: 董大著,贺俊旺,徐洪菊,孙长银
作者单位: 东南大学自动化学院
摘 要: 为达到有效控制欠驱动的四旋翼飞行器,建立一个以ARM处理器为核心,以AVR处理器为辅助的控制平台。考虑到四旋翼飞行器飞行效率,使用无刷直流电机作为飞行器的执行机构,同时针对无刷直流电机设计了相应的电子调速器;针对四旋翼飞行器需要获得飞行器的姿态和位置信号控制要求,采用惯性测量装置和位置传感器分别测量姿态和位置。最后,通过实验平台的综合实验,验证了该方法的可行性和有效性,另外四旋翼飞行器在设计的比例-积分-微分(proportion integration differentiation, PID)控制器基础上实现了稳定飞行。
关 键 词: 控制理论与应用;四旋翼飞行器;ARM;电调;此例-积分-微分
Title: Hardware design of quadrotor based on ARM and AVR
Author: DONG Dazhu, HE Junwang, XU Hongju, SUN Changyin
Organization: Automation School, Southeast University
Abstract: This paper focuses on developing a control platform based on ARM controller, as well as AVR controller for controlling the under-actuated quadrotor effectively. Considering the quadrotor’s flight efficiency, the brushless direct current (BLDC) motor is used as the actuator, and also the electronic speed controller is designed for the BLDC motor. Attitude and position information are measured by using inertial measurement unit and position sensor as the quadrotor needs its attitude and position information to control itself. Finally, comprehensive experiments based on the established platform validate the feasibility and effectiveness of the proposed method. In addition, the quadrotor based on the designed PID controller can fly steadily.
Key words: control theory and its application; quadrotor; ARM; electronic speed controller; proportion integration differentiation
发表期数: 2012年4月第8期
引用格式: 董大著,贺俊旺,徐洪菊,等. 基于ARM和AVR的四旋翼飞行器硬件设计[J]. 中国科技论文在线精品论文,2012,5(8):768-776.
 
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