基于STM32微处理器的飞行器设计与实现

Design and implementation of aircraft based on STM32 microprocessor

随着信息化时代的蓬勃发展,科学技术不断更新,飞行器被广泛的应用在军事侦查、航拍以及民用快递运输等诸多行业。同时飞行器本身也向着飞行控制简单、飞行续航时间长、自动寻航等方面发展。飞行器以Cortex-M3为内核的STM32F103C8T6芯片做为主控,由无线通讯模块NRF24L01、加速度和角速度传感器MPU6050芯片、空心杯电机驱动,以及电源管理模块等五部分组成。控制器通过读取自身传感器实时采集数据并处理数据,利用卡尔曼滤波算法和互补滤波算法对飞行器进行姿态解算,再通过数字PID控制器、模糊算法等控制算法控制电机输出,实现飞行器在空中稳定的飞行[1]。

With the vigorous development of the information age and the continuous updating of science and technology, the aircraft has been widely used in military reconnaissance, aerial photography and civil express transportation.At the same time, the aircraft itself is developing towards the simple flight control, long endurance and automatic navigation. Aircraft with architecture M3 as the kernel STM32F103C8T6 chip as master, by the wireless module NRF24L01 MPU6050, acceleration and angular velocity sensor chip, hollow cup motor drive, and power management module of five parts. Controller by reading their own sensor real-time acquisition data and processing data, using kalman filter algorithm and complementary filter algorithm for aircraft attitude algorithm, and through the digital PID controller, fuzzy algorithm,such as control algorithm to control motor output, to achieve stable flying aircraft in the air.