| 基于Arduino 的四旋翼飞行器控制系统设计 |
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| 引用本文： | 万云霞,许伦豹,胡龙,吴佳鑫,王言章.基于Arduino 的四旋翼飞行器控制系统设计[J].吉林大学学报(信息科学版),2015,33(4):389-396. |
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| 作者姓名： | 万云霞 许伦豹 胡龙 吴佳鑫 王言章 |
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| 作者单位： | 吉林大学a. 地球信息探测仪器教育部重点实验室; b. 仪器科学与电气工程学院, 长春130026 |
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| 基金项目： | 吉林省重大科技攻关基金，吉林大学“大学生创新创业训练计划”基金 |
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| 摘 要： | 为改善滤波效果, 针对四旋翼飞行器滤波算法计算量大的问题, 采用基于Kalman 与DMP(Digital Motion Processing)滤波相结合的姿态数据处理算法及PID( Proportion-Integration-Differentiation)姿态控制算法, 设计了四旋翼飞行器控制系统。系统硬件由Arduino 控制板及四旋翼飞行器平台组成,在此平台基础上建立了飞行器动力学模型并对Kalman 滤波器及PID 控制器参数进行调试。实际飞行结果表明, 该系统能对飞行姿态的偏移进行快速调整, 调整灵敏度和稳态时间得到明显改善, 有效地完成对四旋翼飞行器的稳定控制。
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| 关 键 词： | 四旋翼飞行器 Kalman 滤波 DMP 滤波 PID 控制器 姿态控制 |
Design of Quad-Rotor Control System Based on Arduino |
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| WAN Yunxia,XU Lunbao,HU Long,WU Jiaxin,WANG Yanzhang.Design of Quad-Rotor Control System Based on Arduino[J].Journal of Jilin University:Information Sci Ed,2015,33(4):389-396. |
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| Authors: | WAN Yunxia XU Lunbao HU Long WU Jiaxin WANG Yanzhang |
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| Institution: | a. Key Laboratory for Geophysical Instrumentation of Ministry of Education;b. College of Instrumentation and Electrical Engineering, Jilin University, Changchun 130026, China) |
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| Abstract: | In order to adjust the flight attitude of the quad rotor, an attitude data processing joint algorithm based on Kalman and DMP ( Digital Motion Processing) filter was adopted, and PID ( Proportion Integration Differentiation) algorithm was used to control its flight attitude. Based on the hardware platform, the dynamic model of the aircraft was established and the parameters of Kalman filter and PID controller were debugged. The flying experiment shows that after using the control algorithm, the control system can quickly adjust the flight attitude offset to control the quad-rotor effectively. |
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| Keywords: | quad-rotor Kalman filtering digital motion processing (DMP) proportion-integration-differentiation (PID) controller attitude control |
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