基于DSP旋翼飞行机器人增稳操纵杆设计

本文首先介绍了旋翼飞行机器人控制系统的功能与应用,着重介绍了其中基于tmx320f28335数字信号处理器的无线增稳操控系统工作原理、硬件构架以及软件流程,并对AD转换过程中的关键FIR滤波算法进行说明,详尽比较了不同滤波参数对滤波效果的影响,最后得到该方法可以应用于旋翼飞行机器人增稳控制系统的结论,并将应用该方法滤波后的控制信号应用于实际增稳飞行,以实际数飞行据验证上述结论。

The article first introduces the functions and the operational principles of different control systems of rotary UAV(RUAV),then focus on the hardware structure and software configuration of a new wireless stability augmentation control system,based on the tmx320f28335 digital signal processor(DSP).In this new system,a finite impulse response(FIR) filter,whose algorithm has been introduce in the article as well,is employed to handle the noise caused by AD conversion step.Simulations and practical flying expe...