The Desgin Of Small UAV Flight Control System Based On STM32

In recent years, the small unmanned aerial vehicle(SUAV) is widely used because of its simple construction, cost-effective, maintenance friendly, flexible movements, and high military, and the attention is soaring at fast speed in this field. However, the core of unmanned aerial vehicle is based on the control system in order to make navigate, control and communicate application. With the technological development of microprocessor a nd microsensor, the capacity of chip’s data-handling and data acquisition precision have been greatly improved. Therefore, it is possible to make a digital, high-performance, and low-power consumption SUAV.With the decreasing of arable area, new technology and new equipment are required to improve the use ratio of land in order to increase both production and income. Besides, small unmanned aerial vehicle(SUAV) could change the traditional mode in agriculture filed for achieving the agricultural efficiency and precision. The application of small unmanned aerial vehicle(SUAV) is appropriate for agricultural irrigation, agricultural spraying, agricultural condition monitoring, pest monitoring, crop nutrition analysis, and crop growing monitoring. Helping the agriculture sci-tech staff check the agricultural information correctl y and provide scientific basis in disaster reduction is an ideal applicative affection. In fact, these new technologies offer high precision, good stability, and low-consumption SUAV, and this paper proposed the designing scheme on SUAV’s controlling system, including the hardware and software that based on core of new type STM32F4 series.A complex system with various quantity of state and controlled quantity is defined as nonlinear dynamic system. Not only does such system collect sensor data, but also gu arantees order receiving and transmitting, as well as keep system real-time, correct and stable. The paper is carried out by researching the feature of small, digital, low-coat SUAV, which is based on the designing of STM32’s controlling system. The process of this study is focus on scheme design, hardware design, software design and the six-degree of freedom simulation model.This paper regards the requirements of fight control design. In the hardware design, the researcher used low-cost, digital sensor in order to make the low budget on experiment. The digital gyroscope, accelerator and gaussmeter can be used for an attitude-measuring sensor. Besides, the researcher adopted the high precision GPS mode for the sake of receiving the exact location. And data transfer radio and PWM digital rudder controller are both in charge of sending and applying the message by the SUAV. In the software design, the research used the mode method developing the task division, includes system initialization, data collection, n avigation calculation, control rate control loop design, communication, and driver design of executing agency. Moreover, by way of analyzing the SUAV’s stress, dynamic equation of chain and angular motion could be established. The researcher adopted the PID control algorithm, developing the design rate in lateral control loop, longitudinal control loop. Finally, in the aim of building the experiment on six-degree of freedom simulation model, the researcher verified the rationality and validity of SUAV’s navigation calculation, control rate, control loop, then developed the process of flight experiment. It offered the supportive in the navigation, control loop and simulation experiment and verified the rationality and validity of SUAV’s control system on both hardware and software.