摘要
文中针对四旋翼无人机,设计并实现了一种有效的自主控制无人机起落的策略方案。以高速STM32单片机作为控制核心,对飞行器系统进行了模块化设计。给出了无人机的垂直、俯仰、滚转、偏航等运动控制方案,重点设计了主控程序和自主起降方案。在惯性测量、驱动等方面注意把控,实验证明该控制方案合理有效。
In this paper, we design and implement an effective strategy to control the take-off and landing of uav.With the high speed STM32 single chip microcomputer as the control core,the modular programming design of the aircraft system is carried out.The motion control schemes of vertical, pitching, rolling and yaw are given by us,and we mainly desgned the main control program and the independent take-off and landing scheme.We pay attention to the inertial measurement, drive and other aspects. The experiment proves that the control scheme is reasonable and effective.
作者
宗意凯
曾宪阳
施子凡
杨红莉
陈春春
徐长城
孙钢
张宇昕
Zong Yikai;Zeng Xianyang;Shi Zifan;Yang Hongli;Cheng Chunchun;Xu Changcheng;Sun Gang;Zhang Yuxi(School of Automation, Nanjing Institute of Technology, Nanjing 211167,China;Industrial Center, Nanjing Institute of Technology, Nanjing 211167,China;School of Electric Power Engineering, Nanjing Institute of Technology, Nanjing 211167,China4. Department of Mathematics and Physics, Nanjing Institute of Technology, Nanjing 211167,China)
出处
《电子技术（上海）》
2018年第6期84-87,共4页
Electronic Technology
基金
南京工程学院2018年度大学生科技创新基金项目(TB201804037)
国家自然科学基金项目(11701274)
江苏省自然科学基金项目(BK20170760)
关键词
四旋翼无人机
STM32单片机
自主起降
The four-rotor uav
STM32 single chip microcomputer
Autonoumous take-off and landing
