四旋翼飞行器的设计

32320133ＲESEAＲCHANDEXPLOＲATIONINLABOＲATOＲYVol．32No．3Mar．2013200240。。AＲM。。。。TP3021A1006－7167201303－0041－04DesignofaFour-rotorAircraftCHENHai-binSHUGuo-huaSchoolofElectronicInformationandElectricalEngineeringShanghaiJiaotongUniversityShanghai200240ChinaAbstractAfour-rotoraircraftexperimentalsystemwasdesigned．ThemethodofdetectingbackEMFwasusedinthemotorgovernortocontrolthethree-phasefull-bridgeinvertercircuitsoastoadjusttherotationspeedofthebrushlessDCmotor．BesidestheAＲMprocessorwasusedasthemaincontrollertocontrolthemotorspeedandtheaccelerationtransducerandgyroscopedatawereusedtoachievethebalanceandattitudecontroloftheaircraft．Inordertomakestudentsbeterunderstandthecontrolalgorithmasimulationsystemfordebuggingsoftwarereal-timesystemwasdesignedtomonitorthesensordataandcontrolvolume．Experimentsshowthattheappropriatecontrolalgorithmcanadjusttheflyingattitudeofthefour-rotoraircraftthusprovidinganewsimulationandpracticeplatformforstudents．Thefour-rotoraircraftisconducivetoinnovationexperimentalteaching．Keywordsfour-rotoraircraftreal-timemonitoringplatformmotorcontrol2012－06－281988－。[e-mail]1954－、。[e-mail]01907Breguet-Ｒichet“GyroplaneNo．1”1。42。。、、。3。AＲM。、、、4。1。2A=x'y'z'B=xyz5θy32ψzφx51。θψφB～ACθψ()φ=cosθcosψsinψsinθ－sinθcosψsinθsinφ－sinψcosφsinψsinθsinφ+cosψcosφcosθsinφcosψsinθcosφ+sinψsinφsinψsinθcosφ－cosψsinφcosθcosφ1Bxyz3xyz3θψφ-6mB¨=－C－1mge+e∑4i=1F()i1e[]=001T∑4i=1Fi4。1CAx'y'z'mx¨'=－sinθ∑4i=1F()i2my¨'=cosθsinφ∑4i=1F()i3mz¨'=cosθcosφ∑4i=1F()iz－mg4。22①STM32AＲM。②4、。③Enc-03MMA7260。④。APC、、、。⑤11．8V、、、、。STM32AＲMSTCortex-M3AＲMv77。ＲISC1．25DMIP/MHz。STM3212A/D、D/A、PWM、、USAＲT、SPI、I2C。。、、89。310。2C－B、A－B、A－C、B－C、B－A、C－A60°。C－AT5T2UT5CAT2。22433①②11。。。4。30°612。4APC250、。。3．84kb/sISM433MHz。STM32CortexM3。5、。5Enc-03。。MMA7260。。0～30°MMA7260。6。、、。6MA72603PID。。。134xyzθψφ6PID。14。Un=Kp1en+KDωKp1＞Kp25。15。3432Un=Kp2en+KI∑ni=0ei+KDω647。。7。、。。、、。8。85。STSTM32AＲMMMA7260Enc-03。。。。Ｒeferences1．D．2008．2MerzTDurantiSConteG．Autonomouslandingofanun-mannedhelicopterbasedonvisionandinertialsensingＲ．DepartmentofComputerandInformationScienceLinkOpingUniversi-tySE－58183LinkOpingSweden2004．3．．J．201229598-102．4．J．2009127-23．5．D．2005．6McKerrowP．ModelingtheDraganflyerfour-rotorhelicopterC//IEEEIntemationaConfereneeonＲobotiesandAutomation．20043596-3601．7．MDKSTM32M．2009．8．M．20081-4．9KuangYaoChengYingYuTzou．FuzzyoptimizationtechniquesappliedtothedesignofadigitalBLDCServodriveJ．IEEEPowerElectronicsSpecialistsConference2002194784-787．10J．201035124-125．11．M．200537-40．12．PWMJ．201129464-472．13．D．2009．14．PID．J．201032107926-7933．15．PIDJ．201213239-42．44