Build A Miniature Four-rotor UAV And Attitude Control

Micro four-rotor UAV is a aircraft which with four fixed propeller crossing distribution, and achieve various precise postures through four propeller. It is small, simple structure, safe, can do altitude reconnaissance, jamming, surveillance and many other complex tasks, now becomes the focus of researchers.This artictle built a miniature four-rotor UAV flying platform, designed and implemented at the core of the flight control system based on Cortex-M4core chip STM32F407, and do exploratory study on hovering and low-speed flight attitude control. Details are as follows:For air and kinetic characteristics of micro-UAV system, we establish the aircraft aerodynamics equation, and analyze the basic principles of flight, then establish the basic coordinates of the aircraft;For dual-CPU communication problems, we design and implementate a data exchange program based on parallel communication program, and customize the relevant communication protocols, it is a simple and feasible solution;We conduct a detailed design for Micro four-rotor UAV system hardware module, design and complete flight control PCB board;Focuson the micro four-rotor UAV attitude control study. First, design the attitude control rate backstepping at small angles status and do Matlab simulation. Then after analyzing the limitations of this attitude control rate, the improved backstepping proposed for attitude control rate, and do the corresponding simulation, the simulation control effect is more obvious;Two gesture and attitude solver integration methods were studied, namely the complementary filter method and DMP fusion method. They are designed and verificated respectively, through the experimental verification, for the purposes of this study DMP method is more effective;Finally, do the software design for the flight control system, and do online debugging with the builted aircraft model platform, which proves the feasibility of the algorithm.