Research&Expioitation On The Flight Control System Of Small Four-rotor Unmanned Aerial Vehicle

As a small four-rotor UAV (Unmanned Aerial Vehicle) which has specialstructure of four-rotor UAV, compared with fixed-wing it has a small, vertical takeoffand landing, strong mobility, simple structure, easy to control. The main researchfocus and content of the paper include: analysis on a small four-rotor UAV workingprinciple, design forflight control system hardware and software and attitude control.Through studying and researching of structure, positioning and the flight controltheory of the small four-rotor unmanned helicopter, designed&used the STM32family of processors as the main controller to achieve the design of its controller,respectively using MS5611barometric altimeter, HMC5883three-axis magnetometer,MPU6050integrated three-axis gyroscope axis accelerometer as inertial measurementdevices for small four-rotor UAV to provide control feedback. The whole flightcontrol system through the analysis of the PPM signal supplied FUTABA remotecontroller, fusing the data of the current sensors, estimating the motion attitude, andthen calculating the regulation of each motor to control the motor speed and real-timecontrol of the motion attitude of the UAV.Using points module to program and compile the software, the main modulesinclude: central control module, data acquisition and processing module, wirelesscommunication module, motor control module and the host computer programdebugging and monitoring module. The entire flight control system using Euler anglesto describe the UAV attitude, using the complementary filter and sensor fusionalgorithm to solver attitude, and through experiments, basically solved the problemsencountered in the research and design, to achieve a good estimate effect. Four-rotorUAV attitude control is aimproved controller which is on the basis of learning aboutother controllers, and primarily designed back stepping controller and its simulationresults show that the designed controller has good control effectiveness and robustness. By learning and research will help extend the four-rotor features and lay asolid foundation which including target tracking,its self-designated flight control, aswell asthe development of new control systems and control algorithms for the nextfour-rotor UAV.