[1]胥加林,王洪亮,游安华,等.基于双处理器的四旋翼飞行器设计[J].南京理工大学学报(自然科学版),2016,40(04):386.[doi:10.14177/j.cnki.32-1397n.2016.40.04.002]
 Xu Jialin,Wang Hongliang,You Anhua,et al.Design of quadrotor based on dual processor[J].Journal of Nanjing University of Science and Technology,2016,40(04):386.[doi:10.14177/j.cnki.32-1397n.2016.40.04.002]
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基于双处理器的四旋翼飞行器设计
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
40卷
期数:
2016年04期
页码:
386
栏目:
出版日期:
2016-08-29

文章信息/Info

Title:
Design of quadrotor based on dual processor
文章编号:
1005-9830(2016)04-0386-06
作者:
胥加林1王洪亮1游安华2李柯1姜翠环1
南京理工大学 1.机械工程学院; 2.工程训练中心,江苏 南京 210094
Author(s):
Xu Jialin1Wang Hongliang1You Anhua2Li Ke1Jiang Cuihuan1
1.School of Mechanical Engineering; 2.Engineering Training Center,Nanjing University of Science and Technology,Nanjing 210094,China
关键词:
折叠式四旋翼 双处理器 硬件电路 卡尔曼滤波 姿态融合 加速度计 滑动平均滤波 飞行试验
Keywords:
folding quadrotors dual processors hardware circuits Kalman filtering attitude fusion accelerometers moving average filting flight tests
分类号:
TP273
DOI:
10.14177/j.cnki.32-1397n.2016.40.04.002
摘要:
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。
Abstract:
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 accelerometer fluctuation range of the signal is only ±0.2 m/s2,and the lag is very small; Kalman attitude fusion algorithm based on the dual processor has good performance of dynamics and stability.Quadrotor attitude angle ranges are ±0.5° and ±1° respectively when hovering at low and high altitudes,which satisfy the hover requirements,and when subjected to large disturbances,quadrotors can return to maintain hover condition only through 0.4 s.

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备注/Memo

备注/Memo:
收稿日期:2016-03-09 修回日期:2016-06-19
基金项目:国家自然科学基金(51205209,51205204); 中国博士后科学基金(2013M531360)
作者简介:胥加林(1990-),男,硕士生,主要研究方向:汽车主动安全技术、嵌入式开发,E-mail:xjl7613@163.com; 通讯作者:王洪亮(1984-),男,博士,副教授,主要研究方向:汽车电子、气动技术,E-mail:whl343@163.com。
引文格式:胥加林,王洪亮,游安华,等.基于双处理器的四旋翼飞行器设计[J].南京理工大学学报,2016,40(4):386-391.
投稿网址::http://zrxuebao.njust.edu.cn
更新日期/Last Update: 2016-06-30