The Micro Four-axis Aircraft Research And Design Based On STM32

Four-axis aircraft is a new type of unmanned aerial vehicles, which has the advantagesof simple structure, excellent flight stability. It has a broad field of application and a strongpractical value. Four-axis aircraft involves multi-disciplinary knowledge, includingautomatic control theory, aerodynamics, microelectronics, digital signal processing andsensor technology, etc. It provides a platform for researching multi-disciplinarycomprehensive knowledge and has a very high research value. This paper focuses on theanalysis of the flight principle about four-axis aircraft and makes a detailed design of theflight control system.On the basis of the four axis aircraft unique characteristics, this paper adopts STM32series microprocessor platform of the new ARM Cortex M3architecture, the world’s firstintegrated accelerometer and gyroscope MPU-6050as the flight attitude measuring sensor,the2.4G global opening band for the wireless data transmission control method. UsingKalman filter design principle of weight attitude fusion algorithm, compares the currentattitude and objective attitude. Using linear PID controller to adjust system of PWM outputduty cycle, the four-axis aircraft controls the motor speed to adjust the flying attitude.Finally, the paper makes the experiment and debug of the four axis aircraft prototype.The results showed, attitude fusion algorithm is effective and stable flight attitude, PIDcontroller can be linear output duty cycle of PWM, the aircraft can complete basic flightmaneuver.