电子与封装2026，Vol.26Issue(4)：102-107,6.DOI:10.16257/j.cnki.1681-1070.2026.0045
基于PSoC架构的多旋翼飞行器LSTM-ASMC融合算法研究
Research on the LSTM-ASMC Fusion Algorithm for Multi-Rotor Aircraft based on the PSoC Architecture
杨茂林 1王池 1方明 2刘晓萌 1周明源 3朱广胜1
作者信息
- 1. 中国电子科技集团公司第五十八研究所,江苏无锡 214035
- 2. 中国电子科技集团公司第三十二研究所,上海 201808
- 3. 中微亿芯有限公司,江苏无锡 214072
- 折叠
摘要
Abstract
This paper addresses the issues of chattering and response lag in multi-rotor aircraft under complex wind field conditions by proposing a neural network-enhanced adaptive sliding mode control(ASMC)method based on a PSoC hardware platform.The method replaces the fixed disturbance upper-bound estimation model in traditional adaptive sliding mode control with a long short-term memory network,enabling dynamic optimization of the sliding mode parameter λ and the switching gain ρ.Furthermore,an efficient deployment of the algorithm is achieved using the heterogeneous computing architecture of PSoC with an integrated NPU.Hardware acceleration performance tests demonstrate that the PSoC hardware platform requires only 81.7 μs for single-sample processing,supporting high-frequency closed-loop control at 12.24 kHz.Simulation results indicate that,compared to ASMC,the proposed method reduces the convergence time of the system pitch/roll angles from 0.62 s to 0.27 s,suppresses the roll angle chattering amplitude from±1.66° to±0.14°,and limits the maximum movement speed is to±1.1 m/s.关键词
多旋翼飞行器/LSTM神经网络/ASMC/PSoC架构Key words
multi-rotor aircraft/LSTM neural network/ASMC/PSoC architecture分类
信息技术与安全科学引用本文复制引用
杨茂林,王池,方明,刘晓萌,周明源,朱广胜..基于PSoC架构的多旋翼飞行器LSTM-ASMC融合算法研究[J].电子与封装,2026,26(4):102-107,6.
