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基于双处理器的四旋翼飞行器设计
资料介绍
针对普通四旋翼飞行器携行不便、振动干扰的问题,设计了一种基于双处理器的折叠式四旋翼飞行器。为抑制翼臂振动对加速度计信号的干扰,提出滑动平均滤波对其进行处理。考虑到成本和飞行器的结构特点,设计了基于双处理器的硬件电路,以实现飞行器的稳定悬停。试验结果表明：滤波后的加速度计信号波动范围仅为±0.2 m/s2,且滞后很小;基于双处理器的卡尔曼姿态融合算法的动态性和稳定性良好,低空悬停和高空悬停时,飞行器姿态角的波动范围分别是±0.5°和±1°,满足悬停要求,且当受到较大干扰时,仅需0.4 s飞行器便能重新保持悬停状态。
Aiming at the problem that the ordinary quadrotor is inconvenient to carry out and the vibration is easily disturbed, a folding quadrotor based on the dual processor is designed. In order to suppress the interference of the vibration of the wing, the moving average filter is put forward. Considering the structural characteristics of an aircraft, the hardware circuit based on the dual processor is designed to realize the stable hovering of the aircraft. Flight tests show that the filtered aecelerometer fluctuation range of the signal is only ±0.2 m/s^2, and the lag is very small ; Kalman attitude fusion algorithm based on the dual processor has good performance of dynamics and stabi...
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| 文件名 | 大小 |
| 基于双处理器的四旋翼飞行器设计.pdf | 1M |
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