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四旋翼微型飞行器中IIC总线的应用与问题分析
发表时间：2013-02-28 浏览量：1788 下载量：772
| 全部作者： | 贺俊旺，董大著，沈才云，孙长银 |
| 作者单位： | 东南大学自动化学院 |
| 摘 要： | 为满足四旋翼微型飞行器中控制器与执行机构（电子调速器）之间信息交互的需要，使用集成电路交互(inter-integrated circuit，IIC)总线实现控制器与电子调速器之间的数据传输。考虑到四旋翼微型飞行器的具体要求，对控制器与电子调速器之间的交换信息进行编码。对加入简单控制算法的四旋翼微型飞行器进行试飞，发现过程中出现旋翼转速突然加快及旋翼转速不受控制而保持不变的情况。从IIC总线的规范及干扰方面进行分析并反复进行通信实验，发现问题在于电磁干扰导致通信错误或IIC总线锁死。针对该情况，从软件和硬件2方面进行抗干扰处理。处理后的多次飞行实验验证了该抗干扰处理的有效性。 |
| 关 键 词： | 系统工程；四旋翼飞行器；集成电路交互总线；ARM |
| Title： | IIC-bus application and problem analysis in quadrotor micro-aircraft |
| Author： | HE Junwang, DONG Dazhu, SHEN Caiyun, SUN Changyin |
| Organization： | School of Automation, Southeast University |
| Abstract： | In order to meet the requirement for information exchange between controller and actuator (electronic governors) of quadrotor micro-aircraft, inter-integrated circuit (IIC) bus was used to achieve the data transmission between controller and electronic governors. Considering the specific requirements of quadrotor micro-aircraft, code for information interchange between controller and electronic governor was provided. In some flight tests of a quadrotor micro-aircraft with a simple control algorithm, abnormal cases such as sudden changes in speed of the rotors and rotor speed remaining unchanged without control occurred. Through the analysis on IIC bus specification and interference and repeated communication experiments, we found that the communication errors or IIC bus lock was caused by electromagnetic interference. For this case, the anti-interference treatments were provided from the aspects of software and hardware. Many flight tests after taking anti-interference measures confirmed the effectiveness of anti-interference treatment. |
| Key words： | systems engineering; quadrotor aircraft; inter-integrated circuit bus; ARM |
| 发表期数： | 2013年2月第4期 |
| 引用格式： | 贺俊旺，董大著，沈才云，等. 四旋翼微型飞行器中IIC总线的应用与问题分析[J]. 中国科技论文在线精品论文，2013，6（4）：357-364. |
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