imustabilizer_090219
所属分类：Windows编程
开发工具：PDF
文件大小：629KB
下载次数：96
上传日期：2010-12-29 16:24:32
上 传 者：
deconghen
说明： (UAV) has grown rapidly over the past decade. UAV applications
range from purely scientific over civil to military. Technical
advances in sensor and signal processing technologies enable
the design of light weight and economic airborne platforms.
This paper presents a complete mechatronic design process
of a quadrotor UAV, including mechanical design, modeling
of quadrotor and actuator dynamics and attitude stabilization
control. Robust attitude estimation is achieved by fusion of lowcost
MEMS accelerometer and gyroscope signals with a Kalman
filter. Experiments with a gimbal mounted quadrotor testbed
allow a quantitative analysis and comparision of the PID and
Integral-Backstepping (IB) controller design for attitude stabilization
with respect to reference signal tracking, disturbance
rejection and robustness.
文件列表:
IMUStabilizer\Display (0, 2009-02-19)
IMUStabilizer\Display\ArtificialHorizon (0, 2009-02-19)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon.sln (948, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon.suo (26624, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon (0, 2009-02-19)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\ArtificialHorizon.designer.vb (1308, 2008-10-08)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\ArtificialHorizon.resx (5814, 2008-10-08)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\ArtificialHorizon.vb (6559, 2008-10-08)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\ArtificialHorizon.vbproj (7107, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\ArtificialHorizon.vbproj.user (545, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\bin (0, 2009-02-19)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\bin\Debug (0, 2009-02-19)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\bin\Debug\ArtificialHorizon.exe (22016, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\bin\Debug\ArtificialHorizon.pdb (48640, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\bin\Debug\ArtificialHorizon.vshost.exe (14328, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\bin\Debug\ArtificialHorizon.vshost.exe.manifest (490, 2007-07-21)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\bin\Debug\ArtificialHorizon.xml (700, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\bin\Release (0, 2009-02-19)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\bin\Release\ArtificialHorizon.exe (20992, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\bin\Release\ArtificialHorizon.pdb (44544, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\bin\Release\ArtificialHorizon.xml (700, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\Form1.Designer.vb (1836, 2008-10-08)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\Form1.resx (5814, 2008-10-08)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\Form1.vb (33, 2008-10-08)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\My Project (0, 2009-02-19)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\My Project\Application.Designer.vb (1520, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\My Project\Application.myapp (510, 2008-10-08)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\My Project\AssemblyInfo.vb (1187, 2008-10-08)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\My Project\Resources.Designer.vb (2785, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\My Project\Resources.resx (5612, 2005-09-23)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\My Project\Settings.Designer.vb (2993, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\My Project\Settings.settings (279, 2005-09-23)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\obj (0, 2009-02-19)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\obj\ArtificialHorizon.vbproj.FileListAbsolute.txt (2564, 2008-10-08)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\obj\Debug (0, 2009-02-19)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\obj\Debug\ArtificialHorizon.ArtificialHorizon.resources (180, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\obj\Debug\ArtificialHorizon.exe (22016, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\obj\Debug\ArtificialHorizon.Form1.resources (180, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\obj\Debug\ArtificialHorizon.pdb (48640, 2008-11-29)
IMUStabilizer\Display\ArtificialHorizon\ArtificialHorizon\obj\Debug\ArtificialHorizon.Resources.resources (180, 2008-11-29)
... ...
Copyright 2009 Vassilis Varveropoulos (vassilis@vrhome.net)
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
IMU Stabilizer Version 090219
Display: Windows application to display IMU data in real time (Visual C# 2008 Express Edition)
Firmware: Propeller firmware (IMUStab is the top file, Propeller Tool v1.2)
PCB: ExpressPCB board design files (Express PCB 6.1.4)
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