基于AVR单片机的四旋翼飞行器的设计

四旋翼飞行器具有机械结构简单、成本低、事故率低、重量轻等优点,因此应用前景广泛。文章以Arduino Mega2560单片机为核心控制器设计一架小型四旋翼飞行器。首先,通过主控制器、惯性测量单元、遥控通信模块、电源与驱动模块完成系统的硬件结构设计。其次,采用卡尔曼滤波来消除干扰,以及利用四元数算法解算出飞行姿态角控制电机的转速,并通过双闭环串级PID控制来调节飞行器的平衡性。最后采用C语言编写控制程序,软硬件联机调试并进行实地飞行测试。测试结果证明,四旋翼飞行器可以很好地平稳起飞,并且可以完成自稳、悬停等运作,达到了设计目的。

Four-rotor aircraft has the advantages such as simple mechanical structure,low cost,low accident rate and light weight,which has a wide application prospect. In this paper,a micro four-rotor aircraft is designed with the Arduino mega2560 MCU as the core controller. Firstly,the hardware structure of the system is designed through the main controller,inertial measurement unit,remote control communication module and power supply and driver module. The Kalman filtering is used to eliminate interference,the rotate speed of the electric machine controlled by the flight attitude angle is calculated by means of the quaternion algorithm,and the balance of the aircraft is regulated through the double closed-loop cascade PID control. The control program is compiled by C language,and the on-line debug of soft hardware and the field flight test are carried out. This testing results prole that the four-rotor aircraft can smoothly take-off and complete self-stabilization,hover and other operations,which attains the design purpose.

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