| 一种基于STM32的四旋翼飞行器控制器 |
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| 引用本文： | 郭晓鸿,杨忠,杨成顺,黄宵宁,黄同高,张海黎. 一种基于STM32的四旋翼飞行器控制器[J]. 应用科技, 2011, 0(7): 35-40 |
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| 作者姓名： | 郭晓鸿 杨忠 杨成顺 黄宵宁 黄同高 张海黎 |
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| 作者单位： | 南京航空航天大学自动化学院;南京工程学院电力学院;总参四部驻南京地区军代表室; |
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| 基金项目： | 国家自然科学基金资助项目(60674100); 江苏省高校自然科学基金资助项目(09KJB470002) |
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| 摘 要： | 针对四旋翼飞行器，设计并实现了一种基于STM32的微型飞行控制器．以新型ARM Cortex-M3内核微处理器STM32作为计算控制单元，对飞行控制器进行了模块化设计，包括主控、惯性测量、执行驱动等单元模块．给出了系统软件设计流程，研究了一种基于分布式融合滤波器的飞行姿态解算方法，并针对四旋翼飞行器的控制特点设计了控制律．实验表明控制器方案合理有效．
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| 关 键 词： | 四旋翼飞行器 STM32 飞行器控制器 信息融合 飞行控制 |
A flight controller for quad-rotor based on STM32 |
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| GUO Xiaohong,YANG Zhong,YANG Chengshun,HUANG Xiaoning,HUAHNG Tonggao,ZHANG Haili. A flight controller for quad-rotor based on STM32[J]. Applied Science and Technology, 2011, 0(7): 35-40 |
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| Authors: | GUO Xiaohong YANG Zhong YANG Chengshun HUANG Xiaoning HUAHNG Tonggao ZHANG Haili |
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| Affiliation: | GUO Xiaohong1,YANG Zhong1,YANG Chengshun1,HUANG Xiaoning2,HUAHNG Tonggao1,ZHANG Haili3 (1.College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China,2.Nanjing Institute of Technology,Nanjing 211167,3.Nanjing Area Delegacy Bureau of the Fourth General Stall,Nanjing 210007,China) |
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| Abstract: | A micro flight controller for quad-rotor based on STM32 was designed and implemented.The controller worked with the new-fashioned ARM Cortex-M3 micro processor STM32 as its calculation and control unit.And the controller was modularized as main unit,inertial measurement unit and actuator unit.In the paper,the system software flowchart,method for calculating the flight attitude based on distributed fusion filter were proposed as well as the control law in allusion to the property of quad-rotor.The experiment... |
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| Keywords: | quad-rotor STM32 flight controller information fusion flight control |
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