四旋翼飞行器的设计与实现

The design and implementation of four-rotor aircraft

为了研究四旋翼飞行器的基本工作原理,文章设计了一个基于PID控制算法的四旋翼飞行控制器。飞行器以STM32F103RCT6的最小系统作为主控单元,实时姿态采用惯性单元MPU6050进行检测,使用互补滤波融合算法进行姿态修正计算,为了方便调试而设计了一个专用的遥控器,无线通信采用加AP的2.4G无线模块,专用遥控器和飞控通信时采用分时复用的办法实现数据回传功能。软硬件调试完毕并且整定好PID参数之后测试成功,飞行器实现了垂直升降、小角度控制下的前、后、左、右的遥控飞行。

The main purpose of this design is to study the basic principle of the four-rotor aircraft, a four-rotor flight controller which is based on PID control algorithm. Aircrafts with STM32F103RCT6 minimum system are to be the main control unit. Inertial unit testing is applied to real-time attitude MPU6050, and complementary filtering fusion algorithm to posture correction. Besides, a dedicated remote control is designed for debugging. Added AP 2.4 G wireless module is used in wireless communication. Time-sharing multiplexing method of remote-controlled and flight-controlled communication is adopted to realize the data returning. Under the control of aircraft, hardware and software will debug and tune the PID parameters after successful test flight to achieve vertical remote-controlled flight and small-angled remote-controlled flight from front to back and left to right.