微小型球形飞行器飞行控制系统设计

Design of Spherical Microminiature Aircraft Flight Control System

摘要:

根据微小型球形飞行器的结构特点和工作原理,设计了一套基于ARM Cortex-M3 STM32F103RBT6微控制器的飞行控制系统,进行了主要模块的功能设计与性能分析,给出了研究结论与选型依据,还设计并完成了姿态传感器两轴转台实验和飞行器室内飞行试验;测试结果表明,该控制系统的姿态传感器姿态测量精度高,能够为飞行控制提供姿态参考信息；飞行器能够圆满实现空中悬停、低空机动等飞行动作,且空中飞行姿态稳定、实时、可靠;该飞行控制系统功能可靠、性能稳定,能够较好地满足微小型球形飞行器的飞行控制要求,具有一定的实用性与扩展性。

Abstract:

According to the structural characteristics and working principle of spherical microminiature aircraft,a flight control system based on ARM Cortex-M3 STM32F103RBT6 microcontroller was designed,the functional design and performance analysis of main module were completed,components selection principles and research conclusions were given,and two-axis rotary table experiment of attitude sensor and aircraft indoor flight test were carried out. The results showed the flight control system attitude sensor could provide attitude reference information to flight control due to its high measurement accuracy,and that the aircraft could perform hovering flight and low-altitude maneuvering successfully with stable flight attitude. The flight control system can meets the requirement of the spherical microminiature aircraft flight control well,and it has certain practicability and extensibility.