注：国家自然科学基金资助项目（NO：61571053）
作者：盛广润，高国伟，张迎雪
单位：北京信息科技大学传感器重点实验室，北京 100101
中图分类号：TP13         
文献标识码：A         
文章编号：1006-883X(2018)11-0032-06
收稿日期：2018-09-28

摘要：随着四旋翼飞行器的发展，人们对其抗干扰能力及飞行控制要求也不断提高，针对姿态控制问题进行了分析，以四旋翼飞行器为研究对象，控制器采用STM32F103RET6单片机，惯性测量元器件采用MPU6050等传感器。通过一种易于实现的串级PID控制器对其姿态进行控制，利用MATLAB/Simulink进行抗干扰仿真实验，通过参数整定，最后验证了较于传统PID，串级PID可以使飞行器旋翼的抗干扰能力有一定的提高，达到良好的飞行姿态控制效果。
关键词：四旋翼飞行器；串级PID；仿真；抗干扰

Cascade PID Control of Four-rotor Aircraft Based on STM32 Under Disturbance
SHENG Guang-run, GAO Guo-wei, ZHANG Ying-xue
Beijing Sensor Key Laboratory, Beijing Information Science & Technology University, Beijing 100101, China
Abstract: With the development of quadrotor aircrafts, the requirements of people for anti-interference and flight control of quadrotors are also improved constantly. The problems of attitude control are analyzed in this paper. A four-rotor aircraft is researched with single-chip microcomputer STM32F103RET6 as controller, and MPU6050 and other sensors as inertial measuring components. The attitude is controlled by a cascade PID controller which is easy to implement. The anti-interference simulation experiments are carried out with MATLAB/Simulink. Through parameter tuning, it is verified that the cascade PID can make the anti-interference ability of the rotor wings of the aircrafts better than the traditional PID and achieves a good flight attitude control effect.
Key words: four rotorcraft; cascade PID control; simulation; anti-interference

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备注：2018年 第24卷 第11期