基于STM32的四旋翼飞行姿态串级控制

对四旋翼飞行器飞行姿态的稳定控制问题进行了分析,设计了基于STM32系列微控制器的稳定控制系统。STM32以ARM Cortex-M3为内核,拥有强大的运算能力,作为四旋翼飞行器的飞行姿态控制器的主控芯片。采用四元素融合滤波算法对陀螺仪和电子罗盘等多传感器采集的数据进行飞行姿态解算。结合串级PID控制算法实现四旋翼飞行姿态控制系统设计。仿真及实验结果表明该控制系统符合设计要求,达到了对四旋翼飞行器飞行姿态稳定控制的目的。验证了基于STM32的串级飞行姿态控制的有效性,为后续研究奠定了基础。

Flight Attitude Cascade Control of Quad-rotor Based on STM32

Analyzed Quad-rotor aircraft for flight attitude stabilization control problems, designed flight attitude stability control system based on STM32 family of microcontrollers. STM32 designed with ARM Cortex-M3 core, has a powerful computing capability, can be used as the master chip control quad-rotor aircraft flight attitude. Using the quaternion algorithm fusion filtering algorithm to process the data of gyroscopes and electronic compass and other sensors were collected and calculated flight attitude. Cascade PID control algorithm combined to achieve a quad-rotor flight attitude control system design. Simulation and experiments carried out by establishing a dynamic model validation results show that the system meets the control requirements, achieve the purpose of the four-rotor aircraft flight attitude stability control. Verify the validity of the STM32-based Cascade control of flight attitude , laying the foundation for future study.