| Four rotor unmanned aerial vehicle (uav) is a kind of dc brushless motor driven by four independent rotating propeller aircraft, by changing the rotational speed to change its motion way, in order to solve the problem of flight attitude stability, four rotor PID controller in the design of closed loop under the environment of the drive closed-loop PI controller are introduced to improve its stability factor, through the matlab/simulink to establish four rotor of linear and nonlinear models and simulation of the response curves of the rotor to observe four, set up the same PID parameters compared with drive closed loop and not the closed-loop response, and analyzes the effects of closed loop to drive system.Four rotor hardware part of data fusion algorithm measured by posture sensor stance, after is given priority to with STM32 chip micro controller of PID control algorithm, the output of the four motor control signal, to achieve the purpose of changing motor speed, in motor and electric control, introducing the speed sensor measuring motor speed and the data back to STM32 is given priority to chip electric circuit, in order to establish the control strategy to reduce the response time of the machine... |
