Research And Designof The Flight Controller For Spherical Unmanned Aerial Vehicle

The unmanned aerial vehicle(UAV) plays a significant role in both military and civil fields. Compared to other types of UAV, the spherical UAV has become a hot research area because of its structural advantage.Flight control system is the critical part of the UAV design. The design of flight control system based on the high performance ARM processor and MEMS(Micro Electro Mechanical Systems) sensors meets the system requirements of small size, high integration, precise control and low power consumption.A design scheme of the flight control system for a spherical UAV based on embedded processor and MEMS sensors is presented in this paper.First of all, the principles and realization of the Active Disturbance Rejection Controller(ADRCer) are analyzed.The controllers for the rising velocity channel and pitch angle channel of the spherical UAV based on the ADRCeraredesigned, and the simulation results are compared with the PID controller. The results show that the ADRCer has better performance.Secondly, according to the design requirements of the flight control system, the hardware circuits for core controller(STM32F407) module, MEMS sensors module, motor driver module and wireless communication module are designed.Then, on the basis of the hardware design, software function including system initialization, sensor data acquisition, wireless communication, motor driver and others is designed, and the corresponding flow charts are given.Finally, the sensor data acquisition experiment is carried out, and the sensor data analysis is completed. After that, the Kalman filter algorithm is employed to process the data, andit is able to obtain more smooth and accurate data. In addition, the indoor and outdoor flight experiments are also conducted. Experimental resultsillustrates that the design of flight control system is reasonable,practical and universal. It is also proved that the designed control system achievesthe expected requirements.