Design And Algorithm Research Of Quadcopter Autonomous Flight Based On STM32 Microcontroller

This article has consulted a large number of domestic and international research cases and development prospects of four-rotor aircraft,based on the analysis of its future development direction and its mature commercial products,based on the principle of flight and dynamics of the four-rotor aircraft,the model of motion and attitude transformation of the four-rotor aircraft is established,By analyzing and optimizing the model of the four-rotor aircraft,a data acquisition system,a control system and a communication system module are constructed,and the design of the vehicle hardware system circuit and device selection,the software system and the autonomous speed are designed,and the hardware system circuit mainly includes the four rotor system circuit and remote control,communication Mode control of the upper computer hardware circuit,software system including remote control system,monitoring system,as well as the four Rotary wing aircraft control system and output procedures.This topic is based on to achieve low cost,the design idea of the four rotor flying vehicle with miniature and multi mode autonomous flight,using STM32 as the main control chip,has carried on the systematic design to the four-rotor aircraft from hardware,software,algorithm simulation and so on,and the aircraft autonomous flight,hover,One key mode of return and so on the algorithm and theoretical research and I2 C for the communication mode of data acquisition,the filter is studied,and taking mpu6050 as an example,the attitude angle is collected,and the fusion of the four-element number and the complementary filtering algorithm is used to realize the attitude angle filtering to ensure the accuracy of the measurement attitude angle.For the four-rotor-wing underactuated,strong coupling,nonlinear,in this paper,the control structure and sliding mode control algorithm of the internal and external double closed loop are designed,and based on the improvement of the algorithm anti-jamming performance of the position and attitude control loop,the model of the four rotor aircraft is built and the design and simulation of the algorithm is made.And the Lyapunov stability criterion is used and verified.