四轴飞行器姿态控制系统设计刘峰.pdf

. 2011. 19( 3) Computer Measurement Control # 583 # : 1671-4598( 2011) 03-0583- 03 : T P249 : A 刘 峰, 吕 强, 王国胜, 王东来 ( , 100072) : , ; , , ; stm32 32 , ADI 16355 ; , , ; PID , , , : ; ; T M32 Design of Attitude Control System for Quadrotor Liu Feng, Lv Qiang, Wang Guosheng, Wang Donglai ( Depart ment of Cont rol Engineering, Academy of Armored Force Engineering, Beijing 100072, China) Abstract: Quadrotor is a complex system with instability, nonlinear and high coupling. The attitude control system is the key of quadro- tor. The flight theory of quadrotor is analyzed firstly. Based on the mathematical m odel and flight control requirement, the attitude control system of quadrotor is proposed. A 32 bits microprocessor of TM32 series is u sed as the main pr ocessor. T he ADI 16355 initial m easure- m ent unit and other sensors are used for attitude information detection. Based on the m odularized design m ethod, all the sensors possess of digital interfaces, w hich are simple and easy to communicate w ith the m ain processor. The PID control method w as used for attitude control- ling. T he test results show that the quadrotor is flying stable on the test bed and the system is capable of indoor attitude controlling. Key words: quadrotor; attitude control; T M32 0 4 , , , 4 , , , , , , [ 1- 4] , [ 2] At- mega128 , , , , , [ 3] 1 X500-