Research On A Portable Aircraft

To make life more convenient and beautiful,the research on well-being portable aircraft was carried out using microcontroller STM32,which core is ARM Cortex M3.The quadrotor structure was applied to the well-being portable aircraft.Firstly,the flight principles and the flying attitude changes was studied elaborately.Then,the aircraft stress situation was analyzed and the dynamic model was established.On the basis of general quadrotor structure,the mechanical structure of the aircraft was designed.According to the principle of the inertial navigation system,the circuit of the aircraft control system was explored.The circuit mainly includes STM32 controller-based control module,power module,communication module and perception module,which senses the aircraft acceleration and angular velocity through the IC MPU-6050 and feels the magnetic course with the IC HMC5883 L and the atmospheric pressure with the IC MS5611.Quaternion method and cascade PID control were used to design the attitude and control algorithm.The aircraft control system was developed based on the algorithm.The signals from the sensors are sampled and filtered,then the acceleration data is normalized.The angular velocity data is used to get the gravity component from the quaternion.Their deviations are regulated by PI control to compensate angular velocity data.The angular velocity is used to update the quaternion.The attitude angles are calculated with the relationship between the quaternion and Euler angle.The earth's magnetic field data is used to correct the attitude angle.The attitude angles are adopted in cascade PID control,which is implemented based on the deviations between the desired and real attitude angle.The control output is converted into a PWM form to control the speed of the four motors to achieve the desired flying attitude.In host PC,the aircraft model was set up,the simulation experiment verified the rationality of the control algorithm with Simulink tool.The regulator module was developed in C# language to adjust the system parameters.The regulated parameters are utilized to update the control system.Finally,experimental results show that the control effect is relatively good.