基于AT89C51单片机的四旋翼飞行器设计

时间:2017-12-19 15:10:42 作者:知网查重入口 阅读:


   

 

    四旋翼飞机是飞行器中的一种,其结构特点相对而言是比较简单的,受自身因素的限制较小,在一段时间内能保持一个高水平的飞行姿态,并且具有多种飞行姿态可以得到实现,例如俯仰,升降,横滚等等。

其操作起来比较简单,故对于大多数操作者来说可以很好的驾驭,这一决定性因素也导致了众多领域对四旋翼飞行器的发展前景持有较为乐观的态度,同时对于四旋翼飞行器的发展具有重要的意义,目前很多领域都投入了相关的人员、资金进行研究。

PID控制理论是四旋翼飞行器能够实现众多姿态的基础,它是由比例,积分和微分这三个环节组成的控制器。本文对四旋翼飞行器控制系统的软、硬件模块进行了着重的介绍,介绍了由三陀螺仪和三轴加速度计组成的螺旋MPU6050等等

基于AT89C51单片机的四旋翼飞行器设计.jpg

本四旋翼控制核心是STC15W4KS4单片机,由于51单片机的经济性和灵活性等特点,使得后期对飞行器控制系统的维修与改进时更加的简捷方便。

关键词:四轴飞行器;STC15W4KS4单片机;PID控制;嵌入式

Abstract 

    Four rotorcraft is one of many types of multi-rotor aircraft, its mechanical structure is relatively simple, limited by its own factors, in a period of time to maintain a high level of flight attitude, and has a variety of flight attitude Can be achieved, such as pitch, lift, roll and so on. Its operation is relatively simple, so for most operators can be a good control, this decisive factor also led to a number of areas of the four rotorcraft development prospects held a more optimistic attitude, while the development of the four rotorcraft Has important significance, many areas are now involved in the relevant personnel, funds for research.

基于AT89C51单片机的四旋翼飞行器设计1.jpg

    PID control theory is the four rotorcraft can achieve the basis of many gestures, it is by the ratio, integration and differentiation of the three control parts of the adjustment error of the controller. In this paper, the soft and hardware modules of four rotorcraft control system are introduced, and the spiral instrument MPU6050 composed of three-axis gyroscope and three-axis accelerometer is introduced. The four-rotor control core is STC15W4KS4 single-chip, because 51 SCM's economy and flexibility and other characteristics, making the latter part of the aircraft control system maintenance and improvement more simple and convenient.

KeywordsFour-axis aircraft;STC15W4KS4 microcontroller;PID control;Embedded

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