广西科技大学学报2018，Vol.29Issue(3)：50-56,7.DOI:10.16375/j.cnki.cn45-1395/t.2018.03.008
基于FPGA的四轴飞行器飞行控制系统设计
Design of flight control system of quadcopter based on FPGA
摘要
Abstract
To improve the stability and safety of the flight control system for the quadcopter,a NIOS Ⅱ-based flight control system was developed and multiple redundant control functions were added. When one of the systems fails, flight control system invokes multiple NIOS Ⅱ soft cores,with Altera's own IP core and peripheral hardware cir-cuits,other redundant modules can replace the broken module and continue to work to prevent flight failures. This will improve the stability and safety of the quadcopter. At the same time,the quadcopter's auto-disturbance rejec-tion control algorithm is designed for the problem that the quadcopter is susceptible to external interference,and compared with the cascade PID controller. The experimental results show that the designed auto-disturbance rejec-tion control with a stronger robustness can achieve better attitude control of the quadcopter.关键词
四轴飞行器/飞行控制系统/FPGAKey words
quadrotor/flight control system/FPGA分类
信息技术与安全科学引用本文复制引用
徐亚妮,罗文广,张亮..基于FPGA的四轴飞行器飞行控制系统设计[J].广西科技大学学报,2018,29(3):50-56,7.基金项目
广西科技大学研究生教育创新计划项目(GKYC201624)资助. （GKYC201624）
