Research On Motion Control Technology Of Quadcopter Based On ARM

With the development of quadrocopter technology,quadrocopter is now widely used in military and civilian applications.On the military side,unmanned aerial vehicles were used for enemy investigation,disaster investigation and so on.On the civil aspect,it is used for aerial photography,agricultural plant protection and electric power inspection.Therefore,it is necessary to improve the stability and ease of operation of the quadcopter to meet the functions of flying and performing multitasking in complex environments.The two points are to focus on the design and implementation of the quadcopter motion control system.In this paper,the flight attitude and motion control of the quadcopter are studied.The ARM Cortex-M3 kernel micro processor is the platform of STMicroelectronics,and the whole software system of the quadcopter is designed and realized.Based on the basic principles of quadrocopter,this paper analyzes the principle of aerodynamics and basic motion of quadrocopter,establishes the coordinate system and coordinate transformation matrix of quadrocopter,then describes the quaternions which are used in attitude solution in detail.On the basis of dynamics principle,the dynamics model of aerocraft system is established,including linear motion equation and angular motion equation,and then the model is simplified.On the basis of the mathematical model of aerocraft,PID and cascade PID are introduced firstly.The attitude control loop and height control loop of the aerocraft are designed by cascade PID control,analysis of gyro and accelerometer signal detection,Matlab simulation,the acceleration and angular velocity data of the aerocraft are fused by the complementary filtering fusion algorithm to obtain the attitude angle in the three axis direction of the quadcopter,the difference of Matlab simulation than before and after data fusion.On the basis of motion control loop design and attitude calculation,the whole motion control system and attitude measurement system of aerocraft are programmed by software.Attitude measurement system mainly includes sensor MPU6050 acquisition of aerocraft attitude information,filtering of attitude information and Simulation of Matlab,and transformation of attitude information to Euler angle.The motion control system mainly includes attitude control system,height control system and flight safety control.On the basis of motion control system and software implementation,the performance test of the aerocraft is carried out,and the analysis results are given.