Design And Implementation Of Quad-Rotor Aircraft Based On Embedded Softwares And Hardwares

Flying is the eternal dream of human beings.It is since1903when Wright brothers achieved sustained flight that studies on the aircraft and control theory have being conducted. The earliest research about multi-rotor aircrafts began in1907, which successfully gave birth to a number of the practical products in about1958. However, because of the fact that the complex operation of multi-rotor aircraft was far beyond human’s capabilities and the limitation in backward computer and control technology, multi-rotor aircrafts have never been widely used.The development of the embedded software and hardware technology proposes a possible solution on solving the problems of complex control operation of multi-rotor aircrafts. With the rapid development of the embedded microcontroller and real-time operating system, multi-rotor aircrafts attracted more and more attention in recent years. Quad-rotor aircrafts whose capacity includes vertical take-off and landing, fixed-point and low-speed hovering have shown unquestionable superiority in both military and civilian flied as a representative of the multi-rotor aircrafts, becoming one of the most promising and potential aircraft besides the flapping-wing aircrafts.Based on the above background, this paper explores and studies the design and implementation of multi-rotor aircrafts based on the embedded technology, mainly including the design and implementation of the embedded hardware and software on which the quad-rotor depends. Based on the deep study about the principle and key technologies including embedded system, the embedded real-time operating system, aircraft fuselage structure, flight dynamics system, inertial measurement units and flight control system, the actual design and manufacture for small quad-rotor aircrafts’fuselage, electronic commutation control module for high speed external rotor brushless senseless DC motor, all-digital ten-freedom strap-down inertial measurement unit are introduced. Preliminary flight control function is then achieved by the attitude determination and control algorithm with the use of STM32F105VC MCU, RT-Thread real-time operating system and relevant BSP drivers.This paper is a comprehensive and integrating use of embedded systems and other related knowledge, which excellently reflects embedded technology. All the work proposed in this paper should be possible reference to subsequent related study and work.