Design And Research Of Flight Control System For 4-Axis Aircraft

The four axis aircraft is a new type of aircraft with compact structure and easy control.It has good stability,low cost,flexible control,and it is not easy to fail and able to take-off and landing vertically.It has low environment require for takeoff and landing.It has been applied to the fields of plant protection,military reconnaissance,aerial photography and other fields,and it has a very broad development prospect,and the four axis aircraft involves a lot of technology and has great research significance.This paper first introduces the research background of four axis aircraft,the status and significance of the research at home and abroad,and then explains the structure and basic principles of the four axis aircraft,introduces the definition of the attitude angle and several common algorithms of attitude calculation,and introduces the PID calculation method used in the four axis aircraft.Then,according to the principle of four axis aircraft,we designed the flight control board with STM32F407 VG as the main control chip,plus the MPU6050 gyroscope,the MS5611 barometer,the HMC5883 geomagnetic field meter and so on.The main control program runs the uc/os-II embedded real-time operating system.The sensor tasks collect the attitude angle of the aircraft and carry on the filtering process.The attitude angle of the attitude calculation task gets the attitude angle of the sensor and uses four elements to calculate the Euler angle of the four axis aircraft,and the control information passed by the controller through the remote control.The control amount of each attitude angle and the Euler angle are obtained by the double closed loop PID operation.Then the corresponding control quantity is sent to each motor to control the flight of the four axis aircraft.Finally,the production of the four axis aircraft prototype and the debugging of the PID parameters are carried out.The hardware design of the four axis aircraft and the rationality of the software design is verified through the test flight.