Study On Flight Control System Of Four-rotor Unmanned Aerial Vehicle

Four-rotor unmanned aerial vehicle is one of the hottest research models in the field of UAV in recent years,its small size,flexible flight mode,ability of carrying certain loads,make it have a wide application in military reconnaissance,aerial shoot,agricultural plant protection,electric power patrol line and so on.With the development of electronic and materials technology,it will have greater performance and a wider development,and will be further researched.The research of the four-rotor UAV is focused on its flight control system,because the research of it is the key to ensure a safe and stable flight.Firstly,this paper expounds the research background of the flight control system of four-rotor UAV,analyzes the research actuality of it at home and abroad,and then makes clear the main research direction and research content of this paper.In the research process of it,the mathematic model of four-rotor UAV is established by using the principle of aerodynamic and force-torque equilibrium.According to the performance index and technical requirements of the project,the hardware experiment platform of UAV is designed by using STM32F407 as main CPU,STM32F407 compared with the traditional MCU has a high frequency,so that the performance of UAV can be guaranteed.By using Kalman filter,the data of multi-sensor is fused to obtain the correct flight attitude information,and the flight control algorithm is researched based on the attitude information.Based on the hardware platform designed,the software design and control algorithm of flight control system are researched,and the PID control method is used to increase the acceleration internal loop control to solve the ground effect of aircraft landing,which is a new attempt and research.Finally,a lot of experiments were carried out and valuable experimental data were obtained,and the expected target was achieved.