The Quadrotor Designing Basic On Stm32of Arduino Compatible Microcontroller

Quadrotor, also known as Four-rotor aircraft, is a basic form of multi-rotor helicopter which has four symmetrically rotors. It floats and moves by adjusting the speed of rotor wings, instead of modulating its mechanical structure. Quadrotor enjoys lots of strong points such as low cost, straightforward and lightweight body without complicated mechanical structure, as well as excellent flight stability. Besides, it also has the advantageous character of miniature and laborless. So it can be applied in some complex environments such as aerial photography, telemetry, real-time monitoring, military reconnaissance and pesticide spraying, thus has formed a considerable industry interrelated. Yet this kind of four-rotor aircraft still has certain blind side such as nonlinear control, heavy control volume and complex process of controlling flying postures. This research was based on the idea of enduing Quadrotors with practicality like low cost, miniaturization and general service through analyzing the flying principle of this kind of four-rotor aircraft, as well as acquiring and calculating data about flying postures and controlling them on the basis of MCU according to its mathematical model and the functional requirements of the operating system. The STM32F103C8T632-bit processor in stm32series was applied as the main controller to analyze and process data, and to output the signals of motors in terms of the results calculated. In addition, sensor modules like MPU-6050were mainly used for detecting gestures and other information, FET circuit was capitalized on driving the coreless motors and Bluetooth module to communicate with the host computer for collecting and analyzing the real-time flight data. The entire system of software and hardware was based on the idea of modularized design. Sensor data collected were all used to communicate with MCU through the IIC bus. Quaternion and Kalman filter algorithm was implemented on stm32SCM by the writing order sequences into flight postures controlling software, and thus the correct attitude angle was resolved. Besides, PID was also adopted as closed-loop control for controlling the attitude angle and stabilizing the flight attitude. Results of this research show that this four-rotor aircraft designed in this project can efficiently achieve the objective of stabilizing flight attitude autonomously with outstanding anti-disturbance capability. What’s more, the algorithm in calculating flight attitude control fully meets the requirements of stable flying for which the four-rotor aircraft should perform.