The Flight Control System Design Of Multiple Rotor UAV Based On Master-slave ARM

Six rotor aircraft are concerned by more and more scientific research institutions and commercial companies with its small and easy handling, excellent low-speed performance and a simple organism institutions, and rapidly become a hot topic in the field of unmanned aerial vehicles. In this paper, the real-time control system for a small six-rotor aircraft is selected as the research object, a small six-rotor flight control platform, and a small six-rotor aircraft control systems is designed and built given the requirements of low-speed cruising and fixed suspensions outside the room.Firstly, according to the requirements of being able to flight autonomously, the hardware circuitry which can be mounted on the UAV is designed. According to the modular design ideas, the hardware circuit is placed into multiple functional modules, including power modules, sensors, DC/DC modules, optical isolators modules and the module required by systems and those modular functions realized on master board and slave board respectively.Secondly, the mathematical model of the six rotor aircraft is achieved through its mechanics analysis and then the PID controller is designed for the six rotor aircraft. Taking into account the fact that the flight will receive interference from external signals during the actual flighting process, the PID controller based on perturbation is designed and discussed on the basis of traditional PID controller.Thirdly, details about the software design of the six-rotor flight control system are introduced, including a flow chart system software, data acquisition and control algorithms, and the ground station system is introduced too. Explanations about the function of the master-slave controller software processes, data acquisition and control algorithm implementation process and the ground station system are provided.Finally, a large number of indoor and outdoor flight experiments is carried out to constantly adjust the controller parameters and ultimately determine the most appropriate parameters to improve the stability of the aircraft. The flight control system is stable and achieves good results from a practical point of view the effect of the flight after analyzing the flight data from the aircraft.