Research Of The Cable-Multi-Rotor Flight Controller System Based On STM32

Multi-rotor aircraft is not only like a fixed-wing aircraft as flying in several directions, but also hover like a helicopter, so that in the civilian and military aspects have been well applied.However, at present the disadvantages of it is the battery life is poor, so that it can’t perform a task for a long time. Tethered aerostat suspended in the air, on its own buoyancy mooring rope fixed on a mission, can work long time continuous fixed anchor efficiently, but its poor maneuverability, greatly influenced by the external environment.The characteristics of composite rotor aircraft and tethered aerostat, we can design the cable-Multi-rotor provided electricity by the cable. It has the characteristics of the strong maneuverability, small influence of the external environment, highly cost effective, long continuous working time, easy maintenance, etc. At present domestic about research and application of the cable-Multi-rotor is less, this article in order to achieve its hovering flight, a series of research work was carried out emphatically.Firstly, this paper introduces the basic structure and work principle of six rotor aircraft, analyses the six rotorcraft dynamics, gets the rotation and translation of the dynamic equations of the aircraft, and simplified its mathematical model. Next to the stress of the cable and the cable tension on organism is analyzed, and the six rotor aircraft dynamic model on the basis of the rope six rotor dynamics model is established.Then, according to the requirements of the aircraft design and task needs,, design the hardware and software of the system using the modular design concept. Mainly includes the main controller and navigation system used in selection of sensor, choose the appropriate filtering algorithm for sensor data filtering after decoding to get related information. Then a controller was designed to control the attitude of spacecraft, height and location based on the PID and cascade PID algorithm. Also select the appropriate power source and cable design the power supply system of the cable-Multi-rotor.Finally, the parameters of the controller were setted through many times experiment. Experimental results show that the design method of this paper can make the cable-Multi-rotor more long-term stable work and finish the corresponding task, meet the requirements of the design basiclly.