摘要
笔者针对固定翼飞行器不易操控的问题,对固定翼飞行器自稳方面进行了研究。该设计用四元数法和互补滤波法对MPU6050的6轴原始数据进行运算与滤波处理,得到固定翼飞行器飞行时的姿态角,并用PID控制算法对飞行器二轴的姿态角进行修正,让固定翼飞行器在无方向遥控指令的情况下自动平稳飞行。该自稳设计能够控制相应的外部设备,可应用于测绘、巡线等领域。
Aiming at the problem that the fixed-wing aircraft is not easy to control,the self-stabilization of the fixed-wing aircraft is studied in this article.The six-axis original data of MPU6050 were calculated by quaternion method and filtered by complementary filtering method to obtain the attitude angle of the fixed-wing aircraft in flighting.The attitude angle of the two-axis aircraft was corrected by the PID control algorithm to make the fixed-wing aircraft fly smoothly and automatically without direction remote control command.This control configuration of the corresponding external equipment can be used in mapping,inspection and other territory.
作者
汤心怡
戴建峰
叶萌
张浩宇
Tang Xinyi;Dai Jianfeng;Ye Meng;Zhang Haoyu(School of Electric Power Engineering,Nanjing Institute of Technology,Nanjing Jiangsu 211167,China;Industrial Center,Nanjing Institute of Technology,Nanjing Jiangsu 211167,China)
出处
《信息与电脑》
2020年第3期20-23,共4页
Information & Computer
关键词
固定翼
自稳
四元数
互补滤波
MPU6050
fixed wing
self-stabilization
quaternion
complementary filtering
MPU6050
