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基于STM32的四旋翼飞行器控制系统设计(6)

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DESIGN OF CONTROL SYSTEM FOR A

QUADROTOR UAV BASED ON STM32

ABSTRACT

Quadrotor-UAV is a very hot direction of UAV Study .With the Development of the IMU; Quadrotor-UAV has got rapid development in these years.

This paper designed control system for the Quadrotor-UAV, studying plenty of Attitude algorithms, control Attitude algorithms and self-hovering algorithms and realized it in the Quadrotor-UAV. The main purpose and results of this paper as are that:

(1) Designing the mechanical structure、hardware、software for the Quadrotor-UAV, and also for the remote controller and then analyze the realization.

(2) This paper introduces the SINS and model the Quadrotor-UAV based on Newton-Euler equation, and then simplifies the model. It also compares the direction cosine algorithm and the quaternion algorithm. The quaternion algorithm's calculated amount is quite low and it has no singular point, so I finally choose it to calculate the attitude. Meanwhile, I compare three attitude error-compensation algorithms and finally choose the Kaman-filter with quaternion algorithm to calculate the attitude. About the control algorithm, I tried classical PID controller and cascade PID controller, in a word, the cascade PID controller response quickly and overshoot less. This paper finally uses the cascade PID controller to control the Quadrotor-UAV. On the other hand, I tried new self-hovering algorithm that based on SINS and height sensor.

(3) To meet the need of debug, I use c# to make a Quadrotor-UAV virtual controller upper computer software, it can realize real-time communication, controlling the Quadrotor -UAV, and it use the D3D technique to render the Quadrotor-UAV. With the experiment information, I compared different kinds of algorithms that I mentioned before and finally got a conclusion.

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