Design And Implementation Of Mini Four Rotor Aircraft

Mini-four-rotor aircraft is one of UAV which its structure is symmetrical and its operation is flexible and it can hover with some load.In the field of civilian and military areas,it also plays an increasingly important role and has been applied to anywhere,such as meteorology,reconnaissance,transportation,plant protection,aerial,power and so on.In this paper,mini-four-rotor aircraft is taken as the research object.Around its attitude calculation and attitude control,the design and implementation of mini-four-rotor aircraft are studying.Firstly,the structural characteristics and flight principle of the aircraft are described.Then defining the coordinate systems,and according to the Newton-Euler method,the math model of micro-four-rotor aircraft have been established.Considering that the aircraft is rigid body,and ignoring the air resistance and the quality and volume of propeller is small and other factors to simplify the model.Then,the attitude and height controllers are designed based on PID algorithm and Backstepping algorithm,and building the simulation platform.Simulation experiments are carried out to analyze the control effect of PID and Backstepping.Then,according to the characteristics of accelerometer,gyroscope and magnetometer in the frequency domain,combining with the attitude solution of quaternion,the complementary filter is designed to improve the accuracy of the attitude calculation.Secondly,mini-four-rotor aircraft with STM32F10 X controller is designed,including the control module,the wireless communication module,the power module,the attitude measurement module,the height measurement module and the actuator module.Then,each module was completed with the software of Keil.Finally,the flight experiment was completed,and the effect of backstepping control was proved to be better than the PID control,where the response speed was faster and the precision of control was higher.