The Research Of Micro UAV Flight Control System Based On STM32

The micro four rotor UAV is becoming the "new favorite" of the military and civilian fields along with the continuous maturity of "micro manufacturing technology".It has the characteristics of simple structure,less consumption of resources and low environmental requirements,and has broad market prospects.At the same time,the four rotor unmanned aerial vehicle(UAV)is a complex system with nonlinear,high coupling,multi input and multi output and underactuated.The control problem has become a difficult problem in the research work of UAV at home and abroad.Based on the successful construction of the micro four rotor unmanned aerial vehicle(UAV)flight platform,the flight controller based on STM32 is designed.The attitude control and navigation control algorithm of the four rotor unmanned aerial vehicle(UAV)are emphatically studied.The feasibility and practicability of the algorithm are verified by experiments,which achieves the purpose of stable flight of four rotor UAV under artificial control conditions.The specific research methods are as follows:First,the research background and significance of the research are analyzed,and the research status of the UAV and flight controllers abroad is reviewed from the aspects of technology R & D input from other countries.The flight control principle of the micro four rotor unmanned aerial vehicle(UAV)is deeply studied.The work flow and the overall design requirements and targets of the flight control system are summarized.The components of the components are selected according to the frame diagram.and the design of the hardware and software and the main board circuit of the controller is completed.Secondly,based on the mathematical model of the micro four rotor UAV,the attitude control algorithm and navigation control algorithm are studied.The PID control algorithm,cascade PID control and other relevant theoretical knowledge are studied.The transfer functions of each channel are obtained by combining the four rotor unmanned aerial vehicle dynamic linear model and the flight platform’s corresponding parameters,and the theoretical control effect is simulated and compared with the aid of MATLAB.The contrast results prove the control of cascade PID control.It can be greatly improved compared with the traditional PID.The basic principle of SINS/GPS integrated navigation is introduced,and the strapdown inertial navigation(SINS)and global positioning system(GPS)are mainly studied.On this basis,the Untraced Kalman filter based on quaternion isapplied to the micro four rotor unmanned aerial vehicle SINS/GPS integrated navigation system,in order to reduce the mean square error of the navigation information.The superiority of the Unscented Kalman filter is verified by simulation comparison with the Extended Kalman filter,and further verifies the effectiveness of the algorithm through the actual data acquisition and analysis.Finally,through verification and test flight,the author verified the relevant theoretical research results in the paper,the flight controller PCB board was completed,the four rotor unmanned aircraft flight test platform was constructed,the input test of each signal was carried out,the output scheme of the PWM signal is verified,the dynamic tuning of the whole machine is carried out for the PID parameters,and it has realized the smooth flight of the whole machine.