Research And Realization Of Quadrotor UAV Control System Based On Cortex-M4

Quadcopter can perform flying tasks and have the ability of autonomous navigation in complex environments.The biggest challenge in studying the quadcopter is the design of the controller.This paper introduces the quadcopter's hardware and software system,and provides a system that meets the requirements of stabilization and robustness.It also handles the nonlinear of the system and the disturbance caused by the change of the parametric environment well.The design of the main controller is the most important part of the quadcopter's hardware system design.By comparing many similar chips from different companies and taking into account the chip's performance parameters,we finally choose STM32F407VGT6 as the main controller chip.The design of the minimum system of the main controller is also given.The paper also gives a detailed method on how to design the power management module and wireless transmission module.Based on Quadrotor UAVs Nonlinear Model,We analyze the Attitude by using EKF.Considering the performance of the sensor,the frequency that the gyroscope updates the date of the angular velocity is much larger than the frequency that the line acceleration sensor and the magnetic force sensor update the date of the angular velocity,so the IMU sensor can not update data synchronously.Considering this problem,this paper also gives an corresponding attitude fusion method.While designing the control algorithm,the original quadrotor model is linearized by the dynamic feedback to obtain a linearly controllable expansion system.Then we develop the control law for the extended system.The corresponding numerical simulation experiment is carried out on the feedback linear controller with Matlab software.Finally,the simulation of the Quadrotorfour UAVs is carried out.The experiment proves the effectiveness of the Quadrotor UAVs hardware system,the software system and the corresponding control algorithm,and realizes the stability control of the Quadrotor UAVs attitude and completes the specified task.