Experiment study on attitude stabilization control of quadrotor micro-aircraft

ZHOU Quan; HUANG Xiang-hua; ZHU Li-hua

doi:10.13873/j.1000-97872009.05.007

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Experiment study on attitude stabilization control of quadrotor micro-aircraft

更新时间：2025-09-11

- Experiment study on attitude stabilization control of quadrotor micro-aircraft
- Vol. 28, Issue 5, Pages: 72-74+79(2009)
- 作者机构：
  
  南京航空航天大学能源与动力学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872009.05.007
  CLC： V249.1
- Published：2009
- 稿件说明：
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[1]周权,黄向华,朱理化.四旋翼微型飞行平台姿态稳定控制试验研究[J].传感器与微系统,2009,28(05):72-74+79.

ZHOU Quan, HUANG Xiang-hua, ZHU Li-hua. Experiment study on attitude stabilization control of quadrotor micro-aircraft[J]. 2009, 28(5): 72-74+79.
[1]周权,黄向华,朱理化.四旋翼微型飞行平台姿态稳定控制试验研究[J].传感器与微系统,2009,28(05):72-74+79. DOI： 10.13873/j.1000-97872009.05.007.

ZHOU Quan, HUANG Xiang-hua, ZHU Li-hua. Experiment study on attitude stabilization control of quadrotor micro-aircraft[J]. 2009, 28(5): 72-74+79. DOI： 10.13873/j.1000-97872009.05.007.

摘要

对四旋翼飞行平台姿态稳定控制进行了试验研究

建立了数学模型

在Matlab环境下使用PID控制器进行了模拟仿真研究。基于仿真结果

设计了以TMS320F2808为核心处理器

以MIN-INA900为飞行平台测姿传感组件的飞行试验平台

进行了单通道系留试验和六自由度试验

试验结果表明:PID控制器能够实现对飞行平台姿态的控制。

Abstract

The attitude stabilization control of quadrotor is studied using real time flight test results.An equivalent model of quadrotor is obtained which is simulated in Matlab with a PID controller.Based on the simulation results

control system is implemented for the designed prototype quadrotor.The embedded controller TMS320F2808 is used for quadrotor with supporting sensor module MIN-INA900.By fixing each roll

pitch and yaw channel and using all the 6 degrees of freedom together

the attitude response of the real time quadrotor is obtained.Test results show that the results are implemented with a PID controller.

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references

微惯性测量组合系统的设计 [J]. 岳凤英,李永红,王恩怀. 传感器与微系统 . 2008(01)

微型无人机研制的关键技术及军事应用 [J]. 曲东才. 飞机设计 . 2007(03)

一种无人机姿态智能PID控制研究 [J]. 陈欣,杨一栋,张民. 南京航空航天大学学报 . 2003(06)

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