Development Of Self - Propelled Flight Controller For Four - Rotor

Because of its flexible, strong load and many other advantages, Four-rotor unmanned aerial vehicle(UAV) have great potential for application in the field of military civilian and technology. However, four rotor unmanned aerial vehicle(UAV) system has the under-actuated, strong coupling and multivariable control etc, it has become a hot and difficult problem in field of control in the world.This topic regard X650 Pro quad-rotor UAV rack and implementing agencies as the carrier,using the STM32-based controller, gyroscope, accelerometer, electronic compass as angel sensors, and ultrasonic sensors, GPS as position feedback device, using quaternion Kalman filter and the position PID control algorithm, designed a autonomous flight controllers.We used gestures sensor information and quaternion to calculate a target pitch angle and a roll angle, and applied the position-type PID to get variable of drive motor, thus completing the flight control. Setting the target waypoint centered 3m range as UAV fall area, within reach of the circle area to land. After the testing, the design of the controller enables the aircraft stable flight.This paper analyzed the UAV movement principle, established its non-linear equations of motion and simplify the processing, we introduced four variables, thus the nonlinear model is decomposed into four independent control channels, using positional PID control method, completed set of high flying and waypoint flight, verified the feasibility of the control scheme.