基于FPGA的四轴飞行器飞行控制系统设计
徐亚妮;罗文广;张亮
【期刊名称】《广西工学院学报》 【年(卷),期】2018(029)003
【摘要】为提高四轴飞行器飞行控制系统的稳定性及安全性,研制了一种基于NIOS Ⅱ的飞行控制系统,并添加了多冗余控制功能.当其中一套系统失效的情况下,调用多个NIOS Ⅱ软核,配合Altera自带的IP核以及外围硬件电路,其他的冗余模块能够替换坏掉的模块继续工作,防止发生飞行故障,从而提高四轴飞行器的稳定性和安全性.同时针对四轴飞行器易受外界干扰的问题,设计了四轴飞行器的自抗扰控制算法,并和串级PID控制器的控制效果进行了比较.仿真结果表明:所设计的自抗扰控制算法可以更好地实现四轴飞行器的姿态控制,并具有较强的鲁棒性.%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
基于FPGA的四轴飞行器飞行控制系统设计
