基于ARM的四旋翼姿态控制器设计

四旋翼姿态控制器采用集成了加速度计和陀螺仪的惯性测量单元，实时采集姿态数据,传输给Cortex-M4内核的处理芯片，利用四元数姿态解算方法，对加速度和角速度数据融合解算处理。采用位置式PID控制算法，控制四个无刷电机的转速，实现控制四旋翼飞行器的飞行姿态。建立万向云台调试系统，通过实践调试验证该控制器能实现控制四旋翼姿态的稳定性。稳定飞行时，姿态角的平均振荡范围为5度。

A Design of Four Rotor Attitude Controller Based on ARM

Four rotor attitude controller adopts the in accelerometer and gyro inertial measurement unit, gather attitude data real-time, then transferred to the Cortex-M4 core processing chips for data processing, and use positional PID control algorithm to control four free brush motor speed to achieve controlled four-rotor aircraft flight attitude. Four rotor aircraft vulnerable to errors, to make calculated attitude angle error between the actual value in the allowable range, it uses the Kalman filter algorithm in data processing, data integration acceleration and angular velocity solver processing. Establish universal platformSdebug system,Sthrough the practice ofStesting to verifyScontroller canSachieveSthe stability controlSofSfour rotorSprofile.