The Design Of A Small Quadrotor Aircraft Based On Cortex-M4

In recent years, with the development of MEMS technology, more and more researchers begin to apply MEMS technology to the study of the quadrotor aircraft. At present, the quadrotor is becoming a research hotspot, which is widely applied in aerial photography, power line patrol, environmental monitoring and other applications.Firstly, in this paper we summarize the control mechanism of the quadrotor aircraft, analyze the dynamic characteristics of the propeller of the aircraft, establish the control model of the BLDC, and, then, obtain the rigid body dynamics equations of the quadrotor aircraft. Secondly, we complete the design of the main controller module by selecting microcontroller MK60DN512ZVLQ10 based on ARM Cortex-M4 as the main control chip, which is produced by Freescale Semiconductor. The main controller module can realize the PPM signal demodulation, attitude data processing, PID control and other functions. Then we complete the design of the inertial measurement module by using Nine axis motion tracking device MPU9250 produced by InvenSense, which can reduce the complexity of the circuit board and the design cost. The module can realize the collection and transmission of inertial data based on SPI bus communication. In addition we have made the electronic speed control module of BLDC based on IIC bus communication, which can realize the function of start, stop, and the speed change of the BLDC.Lastly, we give the overall design of the quadrotor aircraft and the software and hardware design of each module, and we build the test platform of the quadrotor aircraft. After the testing, the quadrotor aircraft has a good performance, and the cost of the design is relatively low, which achieves the desired design objectives.