Control System Design And Implementation Of Small UAV

Small UAVs are being increasingly and widely used for its simple structure, flexible control, and high perform ance ratio. Meanwhile, research on its flight control system, an im portant part of UAV system, has great practical signif icance on the development and application of Small UAV.A small quadrotor UAV in engineering practi ce is taken as application platform in this paper. On the basis of su mming up small UAV system research in dom estic and foreign, a flight control system was established and the research was done on the flight control system of small UAV.Firstly, according to the application re quirements, the paper puts forward the general scheme of flight control system. System is divided into two parts: flight controller and ground contro l system, the f light controller completes UAV attitude detection and flight control function; ground control system to achieve the flight information and ground command data exchange through wireless communication lines. Then, the paper analyzed body structure and flight principle of the quadrotor used in the experimental platform.Secondly, the m odule division and detailed design of th e flight controller are carried out according to the overall structure of the flight control system. The controller uses STM32F407 microcontroller as the main chip module and integrates MEMS sensor module, wireless m odule, GPS module and motor output driver module. At last, designed the related circuit and completed the hardware design.Thirdly, the paper introduced the software design of the control system. According to the aerial flight characteristics of s mall quadrotor UAV, this paper designed the attitude solution system based on the quaternion and Multi-sensor fusion to solve the correct attitude of UAV. Besides, double closed loop PID control was adopted for controlling the attitude angle an d realizing the stable flig ht of UAV. Then the paper designed main controller and ground cont rol system for quadrotor based on the systematic and functional requirements.Finally, the UAV system is tested on the ground and the plane, which verified the functionality correctness and feasibility of the system modules.