智能型四旋翼无人机飞控系统的设计与实现

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英文篇名：DESIGN AND IMPLEMENTATION OF INTELLIGENT QUADROTOR UNMANNED AERIAL VEHICLE FLIGHT CONTROL SYSTEM 作者：张海军 ; 陈映辉 英文作者：Zhang Haijun;Chen Yinghui;School of Computing, Jiaying University;School of Mathematics, Jiaying University; 关键词：无人机 ; 非线性控制 ; 信号检测 ; 嵌入式 ; 自主避障系统 ; 旋转机臂 英文关键词：Unmanned aerial vehicle;;Nonlinear control;;Signal detection;;Embedded;;Autonomous obstacle avoidance system;;Rotatable aircraft arm 中文刊名：JYRJ 英文刊名：Computer Applications and Software 机构：嘉应学院计算机学院;嘉应学院数学学院; 出版日期：2019-04-12 出版单位：计算机应用与软件 年：2019 期：v.36 基金：国家自然科学基金项目(61171141,61573145);; 广东省自然科学基金重点项目(2014B010104001,2015A030308018);; 广东省普通高等学校人文社会科学省市共建重点研究基地(18KYKT11);; 广东省嘉应学院自然科学基金重点项目(2017KJZ02) 语种：中文; 页：JYRJ201904011 页数：6 CN：04 ISSN：31-1260/TP 分类号：79-84

摘要

通过数学建模进行动力学系统分析,设计实现智能型四旋翼无人机飞控系统。构建四旋翼无人机动力学模型并进行理论分析;设计无人机机架,对各组成模块进行测试、分析和实验;实现无人机飞控系统的自主避障和智能飞行;实现旋转机臂,使无人机具有新型的加速机制和变向模式。飞行实验结果表明,该无人机飞控系统取得较好的效果,灵敏性强、稳定性高,总体性能良好。
        Based on mathematical modeling and dynamic system analysis, this paper designed and implemented an intelligent flight control system of quadrotor unmanned aerial vehicle(UAV). The dynamic model of UAV was constructed and analyzed theoretically. Then, the rack of UAV was designed, and the modules were tested, analyzed and tested. An autonomous obstacle avoidance of UAV flight control system was realized, and UAV could fly intelligently. The rotatable aircraft arm was realized, which made the UAV has new-style acceleration mechanism and variable direction mode. The experimental results show that, the UAV flight control system has achieved a good flight control effect, with strong sensitivity, high stability and excellent overall performance.

引文

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