Design of control system for multi-sensor quadrotor based on ARM

WANG Bing; WANG Qi; ZHANG Zhen; GAO Jin-ke

doi:10.13873/j.1000-9787(2017)07-0120-04

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Design of control system for multi-sensor quadrotor based on ARM

更新时间：2025-09-11

- Design of control system for multi-sensor quadrotor based on ARM
- Vol. 36, Issue 7, Pages: 120-123(2017)
- 作者机构：
  
  1. 江苏科技大学张家港校区机电与汽车工程学院
  2. 江苏科技大学苏州理工学院机电与动力工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-9787(2017)07-0120-04
  CLC： V249.1
- Published：2017
- 稿件说明：
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[1]王丙,王琪,张震,高进可.基于ARM的多传感器四旋翼飞行器控制系统设计[J].传感器与微系统,2017,36(07):120-123.

WANG Bing, WANG Qi, ZHANG Zhen, et al. Design of control system for multi-sensor quadrotor based on ARM[J]. 2017, 36(7): 120-123.
[1]王丙,王琪,张震,高进可.基于ARM的多传感器四旋翼飞行器控制系统设计[J].传感器与微系统,2017,36(07):120-123. DOI： 10.13873/j.1000-9787(2017)07-0120-04.

WANG Bing, WANG Qi, ZHANG Zhen, et al. Design of control system for multi-sensor quadrotor based on ARM[J]. 2017, 36(7): 120-123. DOI： 10.13873/j.1000-9787(2017)07-0120-04.

摘要

为改变以传统嵌入式处理器的四翼飞行器的控制方式

基于四旋翼飞行器的工作原理和性能特点

提出了一种基于ARM Cortex-M7的嵌入式处理器的飞行控制系统的设计和实现方案。阐述了四旋翼飞行器的物理结构与飞行原理

给出了硬件系统总体方案;在整合各功能模块的基础上

对系统硬件电路进行设计

并进行了模拟仿真运行和实验验证。仿真与实验表明:设计能够保证系统的高稳定性

能满足飞行器起飞、悬停、侧飞等飞行模态的控制要求。

Abstract

In order to change the conventional control mode of quadrotor with embedded processor

a solution of flight control system is presented based on working principle and performances of quadrotor

design of flight control system based on embedded ARM Cortex-M7 is proposed. Flight principles and mechanical structures of quadrotors are presented

as well as general scheme of hardware system. On the basis of integration of each function module

hardware circuit design of multi-sensor control system based on ARM Cortex-M7 is discussed in detail. Simulation operation and experimental verification are carried out. Simulation and experimental results show that high stability of the control system is guaranteed and the requirements of flight modes are satisfied

including aircraft taking off

hovering

flying side and so on.

关键词

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references

基于多传感器的四旋翼飞行器硬件系统设计 [J]. 李运堂,贾宇宁,王鹏峰,赵静一,楼晓春. 传感器与微系统 . 2015(02)

四旋翼飞行器力学模型与控制系统设计 [J]. 王史春. 中北大学学报(自然科学版) . 2014(02)

四旋翼飞行器的动力学建模及PID控制 [J]. 李俊,李运堂. 辽宁工程技术大学学报(自然科学版) . 2012(01)

基于多传感器的四旋翼飞行器硬件电路设计 [J]. 于雅莉,孙枫,王元昔. 传感器与微系统 . 2011(08)

一种新型四轴搜救飞行器设计 [J]. 张鹏,程飞,曹宇强,孙来,王琪. 科技广场 . 2010(09)

Procedure for in-use calibration of triaxial accelerometers in medical applications [J] . Sensors & Actuators: A. Physical . 1998 (1)

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