一种基于STM32的四旋翼飞行器控制系统设计

本文设计了一种基于STM32F103RCT6的小型四旋翼飞行器,利用手机通过蓝牙通信做地面遥控,通过MPU6050传感器采集飞行器飞行姿态信息,并利用DMP进行姿态解算进而得到四旋翼飞行器的姿态角,STM32对姿态角经过串级PID双闭环控制算法,输出PWM信号实现对四个无刷直流电机调速,使飞行器做相应运动调节飞行器姿态。最后根据匿名四轴仿真对比和实物多次飞行实验验证,本系统方案具有控制精度高、系统稳定、易操作和成本低等特点。

This paper designs a small four-rotor aircraft based on STM32 F103 RCT6, uses the mobile phone to do ground remote control through Bluetooth communication, collects aircraft flight attitude information through MPU6050 sensor, and uses DMP to perform attitude calculation to obtain the attitude angle of the quadrotor, and STM32 to the attitude. The angle passes through the cascade PID double closed-loop control algorithm, and the PWM signal is output to realize the speed adjustment of the four brushless DC motors, so that the aircraft can make corresponding movements to adjust the attitude of the aircraft. Finally, according to the anonymous four-axis simulation comparison and multiple physical flight experiments, the system has the following features: high control accuracy, stable system, easy operation and low cost.