基于STM32的四旋翼飞行器控制系统设计

Design for control system of four-rotor aircraft based on STM32

四旋翼飞行器控制系统的性能决定了飞行效果的优劣,如何改善飞行控制系统使其拥有更良好的表现成为近几年的研究热点。根据四旋翼飞行器的飞行原理,设计了一种新型四旋翼飞行器控制系统。该系统以STM32作为主控制器,配合各姿态传感器实现飞行器姿态及位置的控制,并结合以姿态角为主要误差源的双环结构PID控制器,提高了飞行器的平稳性。经实际飞行验证,该飞行控制系统方案能够取得较稳定的飞行效果。

The performance of control system of four-rotor aircraft determines the flight effect, how to improve the flight control system enables it to have better performance has become the hotspot of research in recent years. According to the flight principle of four-rotor aircraft, a four-rotor aircraft control system is designed. The system uses STM32 as the main controller, with each attitude sensor to achieve the control of posture and position of aircraft, and combined with the double loop structure of PID controller which the main error source depends on attitude angle, improving stability of aircraft. The actual flight shows that the flight control system can obtain stable flight effect.