Research On Redundancy Control System Of Multi-rotor Unmanned Aerial Vehicle Flight Based On STM32 MCU

In recent years,UAV(Unmanned Aerial Vehicle)has broad applications.The diversity of working surroundings puts forward higher requirements for the reliability and fault-tolerant ability of UAV.Improving the stability of flight control system is the key to solve this problem.We successfully developed a redundant flight controller that can be applied to multi-rotor UAV for meeting the needs,such as light-weight,flexible,and high rate of fault-tolerance.Firstly,it is the design of the flight control system,which is divided into three parts: main control system,power system and communication system.The main control system adopts STM32F405 as controller and integrates various sensor modules.The power system is based on the quadrotor aircraft,which provides flight power by the motor module.The communication system contains the data transmission and image transmission for controlling UAV flying attitude and real-time image transmission.Secondly,it is the design of multiple redundant control system based on the flight control system.By using spatial redundancy,we designed a system including three sets of main control system and one set of motor control system.The combination of fault screen and system reconfiguration serves as the management of the redundancy system.We adopt feed-forward PID algorithm as the control algorithm to control the motor system,which processes data based on sensors data and failure data and builds an optimal model.Finally,we test the sensor function from part to whole.The fault tolerance of the control system is tested by fault injection.Combining the simulation with the actual test,we have improved the whole system to meet the practical application requirements.