The Research And Design Of Quadrotor

Quadrotor is a kind of special structure, and easy to control with its unique way of vertical straight down type aircraft, flying because of its easy to control, take up less space, advantages, and stronger ability to maintain and received great favor in civil and military. Four axis aircraft development prospects are broad.This paper analyzes the four axis vehicle development present situation at home and abroad, this paper introduces the current mainstream four axis of the aircraft, and specific design is given to the technical theory of knowledge. Mainly through the cascade PID adjustment and brushless dc motor drive technology, a preliminary study and design the four axis the overall structure of the aircraft and the flight control system, and optimize the attitude control algorithm. On the basis of carrying communication module, the developed prototype can not only realize the basic flight movements, also can undertake with a camera, a real-time video monitoring.This paper first analyzes the four axis aircraft structure characteristics and working principle, combined with the related flight parameters, the four axis aircraft prototype modeling, through quaternion to euler Angle conversion, build the spacecraft attitude motion and position movement six channel function. Introducing relevant control quantity, adopting the classical position type PID control algorithm, combining MATLAP flight simulation, and verify its reliability and stability of the flight.In terms of flight attitude measurement using three-axis accelerometer, three-axis gyroscope and three-axis magnetic resistance meter do together, to provide the parameters of the complementary complete collection of real-time in the process of aircraft flight attitude information, and the data transmission to the main control module for parsing, and through the kalman filter algorithm to deal with the sensor data, and the data for attitude algorithm get rolling Angle, pitching Angle and yaw Angle to analyze vehicle real-time gesture. Aiming at the possibility of failure in the working process of the aircraft (e.g., check the power supply voltage is too high or too low, motor blocked, the interruption of the control signal, the circuit fault, etc.) puts forward the design of hardware and software protection. Software platform adopted domestic leading open source system RT-Thread. In general can be divided into two parts of the upper machine and lower machine. The software of singlechip processor system mainly through the C language for programming STM32F407micro controller. PC software mainly by MATLAB programming.