Research And Design Of Quadrotor Control System Based On The Embedded

Quadrotor is one kind of VTOL(vertical takeoff and landing) UAV(unmannedaerial vehicles), whose flight control is performed by changing the speed of the fourrotors. The control system has four input with six degrees of freedom, so it is anonlinear, multivariable, highly coupled underactuated system, and it`s difficult toachieve precise flight control of it. In order to study the control laws of the aircraft,the article build a quadrotor flight test platform, exploratory studied it`sself-sustaining control law under the hover state and the inertial navigationtechnology.Firstly, the article describes the structure and control principle of quadrotorplatform, established it`s nonlinear mathematical model. Then linearized thenonlinear model by small perturbation method, got the simplified quadrotor hoveringlinear model, which is the study object of the quadrotor control system design. Withthe classic PID control method, designed the attitude control law and the positioncontrol law under a hover state, and use the Signal Constraint tool box in Matlab toautomatic optimize the PID control parameters.Secondly，use STM32F103series chip as the master chip, designed and made aquadrotor motion control board with Altium Designer, including the design ofelectrical schematics and PCB schematics, PCB board proofing, and purchasedelectronic components on the PCB board, then welded and tested the PCB board.Finally, use the welded flight control PCB board as the hardware platform, usethe embedded μC/OS-II system as the software platform, write a quadrotor aircraftcontrol system software programs, including the capture of PWM wave, output ofPWM wave, sensor data processing and other tasks. Using complementary filter tofusion the data of gyroscope and accelerometer, and adding fuzzy strategy designedan adaptive complementary filter algorithm. Transplant PID controller from Matlab toquadrotor platform for debugging, and finally make the quadrotor to achieve a basicfunction of flight.The article build a quadrotor hardware and software platform, made the PCB of quadrotor flight control system. designed a flight control system based on fuzzyadaptive complementary filtering and PID controller, then through the simulation andexperimental results verified the effectiveness of the control system.