Research And Design Of Quadcopter Based On STM32

As an important product of technological development in recent years,the quadcopter has drawn extensive attention from a large number of research enthusiasts and commercial companies.Although there are many mature quadcopter products at home and abroad,it is not easy to control the quadcopter for the operator.Therefore,the improvement of quadcopter structure and control algorithms is still the focus of current research.The research contents and main methods of this paper are as follows:1.After studied the structure of quadcopter,this paper proposed a kind of tailorable embedded hardware structure,and clarified the characteristics,advantages and disadvantages of each hardware module.According to different environments,we are free to choose the right sensor module which expands the application of quadcopter.2.Studied the resources of STM32 microcontroller.According to the characteristics of its timer,this paper designed a task allocation mechanism for the quadcopter,and achieved capture and control of input and output signal of the microcontroller which laid the foundation for monitoring remote control signals and outputting motor control signals of quadcopter.3.Studied and realized the quadcopter's attitude calculation and control algorithm.The algorithm uses the quaternion method to calculate the attitude angle.Considering the error in the attitude angle,this paper proposed a method of sensor data fusion to eliminate attitude angle error,which improves the accuracy of calculation of attitude angle.4.Studied and realized the quadcopter's altitude control and position control algorithm.Each control algorithm has 2 kinds of realization plan which use different sensors to complete the height or position data monitoring.It is free to choose control mode according to actual environment.5.Studied PID control algorithm.In order to improve control accuracy,this paper proposed to use Cascade PID algorithm to control the aircraft motor.The output of outer loop controller is used as the expected value of inner loop controller,which greatly improves the Stability of quadcopter during flight.6.Designed communication protocol between quadcopter and ground station and experimented control algorithm.In the experiment,the attitude,height and position control of the quadcopter were observed and analyzed respectively.Through the data returning by the communication protocol,we can find that the quadcopter control algorithm used in this paper has a wide range of applications with high stability and robustness.