The Research On The Small Multi-rotorcraft Based On Embeded Contorl System

Multiple rotorcraft has unique advantages and great application in military and civil market.These characteristics promote the development of multiple rotorcraft. Quadrotor is mainlystudied in this paper. The dynamic model of the quadrotor is constructed according to theprototype design in this paper. An embedded system is established based on embeddedmicrocontroller. The performance of the quadrotor control system would affect directly thequality of the quadrotor.First of all, the dynamic model of the quadrotor is designed in this paper. The mechanicalstructure of the quadrotor is discussed and researched. Based on this mechanical structure, theaerodynamics model of the quadrotor is established. The structure, material has been studied andprocessing methods is made, including four rotorcraft drive motor with rotor selection andcontrol circuit structure design and the machine debugged lastly.Secondly, the control circuit of quadrotor is designed based on the PIC18F458microcontroller. According to aerodynamics model, an embedded control system of thequadrotor is devised. On the basis of the control algorithm, the control circuit using themicrocontroller unit of PIC18F458is designed to make up this system. A multi-controllerdistributed control system is adopted as a main method in this design. The master controller isused to receive the order come from keys, and the slave controllers receive the informationtransmitted by the master controller through the CAN bus with which all controllers arecommunicated. This control system of quadrotor appears favorable performance.Thirdly, the RTOS (Real Time Operating System) is used as basis of the control systemsoftware, the system can adopt time-sharing multiplexing technology among tasks inmicrocontrollers. The RTOS is a real-time system used to coordinate multi-task run on themicrocontroller. The controllers all run two tasks, so the RTOS is selected to obtain a goodreal-time feature.