武汉工程大学学报2017，Vol.39Issue(1)：83-90,8.DOI:10.3969/j.issn.1674-2869.2017.01.015
基于实时操作系统的小型四轴飞行器设计
Design of Mini-Type Quad-Rotor Aerial Vehicle Based on Real Time Operating System
摘要
Abstract
Aiming at inefficiency in the real time control of mini-type quad-rotor aerial vehicle,we used the STM32 microcontroller to transplant real time operating system. The 32 bit advanced RISC machines microcontroller STM32F103CB was used as the control chip,and the Real-Time eXtension operating system and four elements combined with proportion,integral and derivative control algorithm were used to control the attitude of mini-type quad-rotor aerial vehicle. Finally,the date collection of quad-rotor aerial vehicle was implemented by using the multiple concurrent sensor processing technology. Experimental results prove that the quad-rotor aerial vehicle quickly complete the two-way transmission of control signal and battery quantity data, and obtain high precise attitude information. Therefore,the attitude angel of quad-rotor aerial vehicle updates more quickly and operates easily,which improves the stability and real time of quad-rotor aerial vehicle.关键词
RTX实时操作系统/STM32F103CB/四轴飞行器/并发处理Key words
RTX/STM32F103CB/quad-rotor aerial vehicle/concurrent processing分类
信息技术与安全科学引用本文复制引用
杨述斌,黄俊榕..基于实时操作系统的小型四轴飞行器设计[J].武汉工程大学学报,2017,39(1):83-90,8.基金项目
智能机器人湖北省重点实验室开放基金项目 （）
