The Research And Design Of Attitude Stabilization Control For Quad-rotor Aircraft

Small quad-rotor aircraft is currently a popular topic in the field of unmanned aerial vehicles.Because of its special structure,flexible flight control,relatively low Power consumption,small quad-rotor aircraft had been discussion and research considerably by many scientific research institutions and company.With the current development trend,the performance and functionality of the small quad-rotor aircraft is increasingly outstanding,making it possible to achieve unmanned operations in some high-risk missions.Therefore,the controllability and stability of flight attitude becomes more and more important.The focus of this paper is to study the control algorithm and implementation method to make the aircraft smooth flight.In this paper,the construction of the small quad-rotor aircraft is briefly described,and the aircraft is modeled on the flight theory.According to the requirements of the basic structure of the aircraft and the design of the system.the hardware and software of the aircraft flight control system is put forward.The main controller adopts the STM32 micro-controller and acquisition and processing attitude data.The attitude sensor consists of the gyroscope MPU6050 and the magnetometer HMC5883L,the wireless data communication module uses the NRF24L01 module and the WFT07 wireless remote control,so that the remote can control the micro-controller flying;the memory module is AT45DB161D flash memory chip;the power module adopts the linear regulated power supply TPS76430 and the electrostatic protection diode PRTR5V0U2F.Secondly,the navigation controller of an efficient filtering technology is designed to achieve flight control of the aircraft.Because the sensor acquisition attitude angle data process will inevitably be subject to external factors interfere caused by its own errors,the data will not be accurate.therefore,the data fusion using Kalman filter algorithm,which has a more powerful anti-interference capability and better stability;and then,we study the design of a double closed-loop PID controller which is more suitable for multi-sensor fusion of flight control system and is effective.In this paper,we study the control method of flight controller,and aim at the problem of stable flight in the presence of a large number of disturbances verification.Finally,through the analysis of the complete control system to achieve its embedded software design,through the establishment of the model and the system model simulation debugging,lists the flight debugging in the various steps and precautions,through the analysis of the simulation results of the system model,the simulation results are basically achieved.