Design And Implementation Of Quad-rotor Based On STM32

Quad-rotor is a kind of multi-rotor helicopter, although the characteristics of aircraft were coupling and nonlinear, it can take off and land vertically with the nimble and flexible features. It got widely concerned of the society in recent years. This paper was researched by the following three parts,(1) The principle and model analyzing of Quad-rotorThe concept of coordination is proposed and combined its structural characteristics with the flight kinematics to establish its dynamic equations.(2) The hardware and related peripheral circuits design of Quad-rotorThis section is divided into flight control panel design, ground station design and brushless DC motor controller design. Firstly, a flight control board was designed based on the STM32F407and the corresponding schematic and PCB is given. Secondly, a ground station is designed based on the gyro control and gave the hardware design scheme and software design ideas, also integrated into the GPS function and parameter adjustment function. Finally, a brushless DC motor control is designed base on STM32and proposed a new hardware design, analyzed the principle of its mechanism and made the board to verify its reasonableness.(3) The simulation and debugging of Quad-rotorA sliding mode variable structure controller and a classic PID controller were designed and simulated with the simulation separately, and also gave the corresponding simulation result with comparison. While a data acquisition and analysis system was designed based on the C#, which was used to data real-time acquisition and parameter configuration. Finally, the control algorithm was applied to the real aircraft and the corresponding experimental data was proofed.