Small Quadrotor Hardware Experimental Platform

Quadrotor is a kind of rotor unmanned aerial vehicle which can take off and land vertically, and it can realize all kinds of postures by four rotors in flight. It has many advantages, for example flexible, simple structure, easy to control and so on. It can be used for fire fighting in forest, low-altitude reconnaissance, surveillance, aerial photography and other tasks, which has aroused wide concern among the people in recent years.For the lab team's research, this article aims at designing a hardware experimental platform of small four-rotor aircraft, which can lay the foundation for team's further research. Details are as follows:(1) To satisfy the demand of research of laboratory team, this article determined the overall design of the hardware system.(2) According to the system overall design, this article used STM32VET6 which is a 32-bit processor to design a kind of flight control board. The flight control board includes master processor module, position and posture sensor module, flight control program debugging module, data access module, power module, signal circuit, warning circuit, and position and posture sensor module use three-axis accelerometer, three-axis gyroscope and three axis electronic compass, at the same time extending some interfaces, such as IIC?SPI?OLED?JTAG?UART?PWM. These Interfaces support flight control board to extend other function module. And integrating these modules, this article designed and realized printed circuit board of flight control board.(3) In order to reduce the impact that position sensor can increase the volume and weight of quadrotor, this article designed an electronic speed controller to control speed of sensorless brushless dc motor, and mainly designed hardware and software of electronic speed controller. The realities of the hardware include hardware circuit and printed circuit board. The realities of the software include start-up and phase commutation control of sensorless brushless dc motor.(4) This article tested the flight control board and electronic speed controller, and last tested the experimental platform. And the part of test includes power supply system, attitude sensor, the signal of flight control board inputs and outputs, electronic speed controller. And analyzed test results to verify the rationality and feasibility of the design. Test results show that the hardware system works well, and quadrotor can achieve expected function.This article completed the design of flight control board of quadrotor and electronic speed controller, and set up a test environment for verifying the feasibility of hardware design of quadrotor, and provided an experimental platform for the research of the labs team.