| From the beginning of1907, Quadrocopter is continue to be extensively studied. Especially small axis with the majority of applications in our life, it is studied more widely. Quadrocopter which involved technology includes:multiple aspects of mechanical structure, flight dynamics, automatic control, navigation and circuit design. Development of an axis through its own aircraft, not only can learn a wide range of technology, while in the production process, or you can broaden their horizons and understand the current professional development of embedded control this situation, it is good for my future.The Quadrocopter developed in this paper, the hardware design includes:the use of STM32microcontroller series as the main controller, six-axis attitude sensor MPU6050acquisition of aircraft movement acceleration and yaw angular velocity, magnetic compass HMC5663L amount collected, USB to serial chip is used the CP2104, TP4056to provide a charging voltage of4.2V lithium battery, and charging current control, using the internal timer interfaces to achieve universal remote input PWM waveform capture function and output PWM waveform control the operating speed of the motor. In this paper the software design includes:configuration of serial communication to achieve connectivity of sensor data read fly control board and PC, and using SINS current attitude control method solver, and output in the form of Euler angles, configure the timer to achieve input capture and PWM waveform output function, the application of digital PID controller calculates the remote control input bias current expectations aircraft attitude and posture, calculate the duty cycle of the PWM waveform output to adjust the rotation speed of the four rotors to achieve four aircraft6-DOF flight statusAfter a post-commissioning, the various modules of the system are able to function properly, and can perform simple maneuvers... |
