Research And Application Of Control System For Unmanned Aerial Vehicle Based On ARM9

The Quadrocopter is one of the micro Unmanned Aerial Vehicles that rise in recent years, due to the flexible flight performance and broad application prospects, It’s attract a large number of researchers involved in the study of this aircraft. In this paper, we take the quadrocopter controller design as the main line of this paper, describe the theory and methods of Quadrocopter flight control, Electronic governor theory and design, Multi-sensor data acquisition and information mix, Aircraft attitude solver and navigation, Aircraft control and power output PID algorithm; Moreover, We use experimental method to analyze the data mix and algorithm performance, comparative analysis of the advantages and disadvantages of the two methods of attitude algorithm, comparative analysis of the Classical PID algorithm and Cascade PID algorithm performance at the power output control, obtained some valuable conclusions; in hardware design, this paper designed ARM9 microprocessor-based flight controllers and AVR microcontroller based electronic governor, there is a brief introduction about the circuit function and design principles in the paper, and the hardware’s feasibility is verified at last overall test; In flight controller software design, starting with the theory of software algorithms, we introduce several attitude solver algorithms and data mix theory, analyze Cascade PID algorithm theory and describe these types of algorithms program flow chart in the text, and finally compare the feasibility and advantages and disadvantages of different algorithms through experimental methods, provide a reference for further study. Through the whole theoretical research and in-kind production, and the final test for detection, Quadrocopter controller designed in this paper after test, and can basically meet the control requirements.