基于STM32的四旋翼飞行器旋翼干扰下的串级PID控制
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摘要
随着四旋翼飞行器的发展,人们对其抗干扰能力及飞行控制要求也不断提高,针对姿态控制问题进行了分析,以四旋翼飞行器为研究对象,控制器采用STM32F103RET6单片机,惯性测量元器件采用MPU6050等传感器。通过一种易于实现的串级PID控制器对其姿态进行控制,利用MATLAB/Simulink进行抗干扰仿真实验,通过参数整定,最后验证了较于传统PID,串级PID可以使飞行器旋翼的抗干扰能力有一定的提高,达到良好的飞行姿态控制效果。
With the development of quadrotor aircrafts,the requirements of people for anti-interference and flight control of quadrotors are also improved constantly. The problems of attitude control are analyzed in this paper. A four-rotor aircraft is researched withs ingle-chipmicrocom puter STM32F103RET6 as controller, and MPU6050 and other sensors as inertial measuring components. The attitude is controlled by a cascade PID controller which is easy to implement. The anti-interference simulation experiments are carried out with MATLAB/Simulink. Through parameter tuning, it is verified that the cascade PID can make the anti-interference ability of the rotor wings of the aircrafts better than the traditional PID and achieves a good flight attitude control effect.
With the development of quadrotor aircrafts,the requirements of people for anti-interference and flight control of quadrotors are also improved constantly. The problems of attitude control are analyzed in this paper. A four-rotor aircraft is researched withs ingle-chipmicrocom puter STM32F103RET6 as controller, and MPU6050 and other sensors as inertial measuring components. The attitude is controlled by a cascade PID controller which is easy to implement. The anti-interference simulation experiments are carried out with MATLAB/Simulink. Through parameter tuning, it is verified that the cascade PID can make the anti-interference ability of the rotor wings of the aircrafts better than the traditional PID and achieves a good flight attitude control effect.
引文
[1]江哲.基于STM32的四旋翼飞行器的设计与实现[D].上海:华东理工大学,2015.
[2]Huang J,Fu L,Xu F,et al.Grid Current Control Strategy Based on Internal Model Contorl and Repetitive Control[M].System Simulation and Scientific Computing,Springer Berlin Heidelberg,2012,111-112.
[3]薛佳乐,程珩.基于串级PID四旋翼飞行器控制系统研究[J].电子技术应用,2017,43(05):134-137+142.
[4]黄佳奇,吴晓燕,张蕊,马震.四旋翼飞行器姿态稳定性优化控制研究[J].计算机仿真,2016,33(07):87-90.
[5]吴成富,刘小齐,袁旭.四旋翼无人机建模及其PID控制律设计[J].电子设计工程,2012,20(16):68-70.
[6]刘志军,吕强,王东来.小型四旋翼直升机的建模与仿真控制[J].计算机仿真,2010,27(07):18-20+69.
[7]党蒙,陈黎明,赵颖.面向四轴飞行器的视觉-惯性组合导航[J].计算机应用,2017,37(S2):134-136+140.
[8]叶孝璐,章志诚,俞立,张文安,张丹.四旋翼飞行器姿态控制方法和实现[J].系统科学与数学,2016,36(11):1825-1836.
[9]王伟,马浩,孙长银.四旋翼飞行器姿态控制系统设计[J].科学技术与工程,2013,13(19):5513-5519.
[10]王永利.四旋翼飞行器串级姿态稳定性优化控制研究[J].计算机测量与控制,2018,26(08):97-101.
[11]戴青燃,李航宇.四旋翼飞行器的姿态解算及控制[J].科技资讯,2015,13(35):33-34.
[2]Huang J,Fu L,Xu F,et al.Grid Current Control Strategy Based on Internal Model Contorl and Repetitive Control[M].System Simulation and Scientific Computing,Springer Berlin Heidelberg,2012,111-112.
[3]薛佳乐,程珩.基于串级PID四旋翼飞行器控制系统研究[J].电子技术应用,2017,43(05):134-137+142.
[4]黄佳奇,吴晓燕,张蕊,马震.四旋翼飞行器姿态稳定性优化控制研究[J].计算机仿真,2016,33(07):87-90.
[5]吴成富,刘小齐,袁旭.四旋翼无人机建模及其PID控制律设计[J].电子设计工程,2012,20(16):68-70.
[6]刘志军,吕强,王东来.小型四旋翼直升机的建模与仿真控制[J].计算机仿真,2010,27(07):18-20+69.
[7]党蒙,陈黎明,赵颖.面向四轴飞行器的视觉-惯性组合导航[J].计算机应用,2017,37(S2):134-136+140.
[8]叶孝璐,章志诚,俞立,张文安,张丹.四旋翼飞行器姿态控制方法和实现[J].系统科学与数学,2016,36(11):1825-1836.
[9]王伟,马浩,孙长银.四旋翼飞行器姿态控制系统设计[J].科学技术与工程,2013,13(19):5513-5519.
[10]王永利.四旋翼飞行器串级姿态稳定性优化控制研究[J].计算机测量与控制,2018,26(08):97-101.
[11]戴青燃,李航宇.四旋翼飞行器的姿态解算及控制[J].科技资讯,2015,13(35):33-34.