The Attitude Control Test-bench For Small Quadrotor UAV

The small quadrotor UAV because of its unique structure,flexible operation and other advantages gradually move towards the efficient and multi-functional direction,and widely used in plant protection,electric power,fire and other fields.However,due to the instability of the small quadrotor UAV,the complexity of the flight environment,and the technical problems of the operator,the small quadrotor UAV "crash" incident often occurs.In view of the above problems,this essay designed and developed a set of the attitude control test-bench for small quadrotor UAV,The main contents as follows:Firstly,design a hardware system of the attitude control test-bench for small quadrotor UAV.Mainly includes: design a small quadrotor UAV,and select the APM and Pixhawk two open source flight controller as debugging object;Designed a attitude test module by the STM32 development board,MPU6050 module and HC-06 Bluetooth module;Through the modeling and analysis,the aluminum alloy profiles have been used to set up an experimental platform to meet the requirements;Designed a connecting device to meet the change of three degrees of freedom of the small quadrotor UAV.Secondly,develop a software system of the attitude control test-bench for small quadrotor UAV.The upper part of the host computer includes the real-time receiving,the waveform display and the sending of the remote control command through the attitude test module;In the lower computer,the data signal is received and processed by the remote controller,the host computer and the attitude test module.Thirdly,using the test-bench to debugging and optimize the design of small quadrotor UAV,and the control performance of the selected two flight controllers is compared with the attitude test module.In this paper,a large number of tests were carried out on this experimental platform.The result proves that the attitude control test-bench for small quadrotor UAV can debug the small quadrotor UAV safely and reliably,which reduces the risk and cost of the adventure test flight and achieves the intended purpose.