Four Shaft Aircraft Control Technology Research Based On The STM32 MCU

Since micro quad-rotor UAV possesses many advantages, such as simple mechanical structure, high maneuverability, capability of vertical take-off and landing (VTOL), and effective protection against personal casualty, it has wide applications in meteorological reconnaissance, aerial photography, disaster rescue, intelligent transportation, precision farming and so on. In this paper, we studied the whole scheme design of UAV and its dynamic model, and the design of attitude flight control system, in order to design a micro multi-rotor UAV for engineering application.First of all, needs analysis, analysis of the four rotor machine, the overall design scheme of embedded hardware system. The embedded system design, mainly discussed the design of hardware selection and software program flow system. Mathematical modeling and analysis of the four rotor aircraft. According to the principle of flight four rotor aircraft and the Newtonian equation of motion, construct the nonlinear dynamic model of four rotor aircraft. Based on some assumptions and simplifications, establish the linear model of four rotor aircraft, which laid the foundation for the design of flight control system. The parameters by fitting the model to experimental data, and verify the stability and robustness of this model. The basic principle of the strapdown inertial navigation system, analyzes three methods of inertial navigation attitude algorithm, using the extended Calman algorithm to obtain real-time sensor data by the attitude angle. The design of LQG controller on the basis of modeling, and determined by LTR technology and experiment two optimal control parameters and Calman filter. By simulation and the flight test controller in tracking, maintain, anti noise, robust performance and other aspects, and compare the dynamic performance of the aircraft and the analysis of PID controller.Finally, to testify the properties of control system, outdoor flight experiments are performed on the controller we designed. The experimental results demonstrate that, the designed controller has good control performance. This fulfills the basic demand of UAV for engineering application, and also proves the validity of our designs for both embedded system and control system.