摘要
针对四旋翼无人机(UAV)定点悬停时精度低且易受干扰等问题,通过结合多传感器数据融合算法与PID控制算法,设计了一种四旋翼定点悬停的控制方案。系统以STM32F407处理器作为控制核心;通过6轴姿态传感器MPU6050采集陀螺仪数据和加速度数据,经过互补滤波算法融合处理后解算出欧拉角;采用三阶互补滤波算法对激光传感器VL53L1X采集的数据和加速度数据进行融合,计算出高度数据。通过MPU6050解算出的欧拉角补偿光流传感器测量的数据,得到UAV实际水平速度。针对传感器融合后的数据,设计相应的串级PID控制器对UAV姿态和位置进行控制,并搭建实验平台进行验证。结果表明:本文设计的控制方案能够有效提高四旋翼UAV的定点悬停精度,抗干扰能力强且具有较好的鲁棒性。
Aiming at the problems of low precision and easy interference when the quad-rotor unmanned aerial vehicle(UAV)is spot hovering,a control scheme for spot hovering of quad-rotor UAV is designed by combining multi-sensor data fusion algorithm and PID control algorithm.The system uses the STM32F407 processor as the control core.The gyroscope data and acceleration data are acquired by 6-axis attitude sensor MPU6050,and the Euler angle is calculated after fusion processing with complementary filtering algorithms.The third-order complementary filtering algorithm is used to fuse the data collected by the laser sensor VL53L1X and the acceleration data to calculate the altitude data.The actual horizontal velocity of UAV is obtained by using the Euler angle calculated by the MPU6050 to compensate the data measured by the optical flow sensor.Aiming at the data after sensor fusion,corresponding cascade PID controller is designed to control the attitude and position of the UAV,and an experimental platform is built for experimental verification.The results show that the designed control scheme can effectively improve the spot hovering precision of the four-rotor UAV,with strong anti-interference ability and good robustness.
作者
刘正坤
潘绍明
向政蓉
LIU Zhengkun;PAN Shaoming;XIANG Zhengrong(School of Electrical,Electronics and Computer Science,Guangxi University of Science and Technology,Liuzhou 545006,China)
出处
《传感器与微系统》
CSCD
北大核心
2023年第7期94-97,共4页
Transducer and Microsystem Technologies
基金
广西教育厅资助项目(YB2014209)。
关键词
四旋翼
多传感器融合
光流传感器
悬停
quad-rotor
multi-sensor fusion
optical flow sensor
hovering
