Research On The Interface Circuit Design And Control Algorithm Of The Quad-rotor Based On 586-Driver

In recent years,with the rapid development of integrated chip,MEMS technology and attitude calculation method and control algorithm of the continuous improvement of science and technology innovation,from the competition of science and technology to aerial,investigation and so on can be seen everywhere the form of quad-rotor,the study of quad-rotor controller and the control strategy is particularly important.In this paper,typical quad-rotor flight control system as the research object,to build a 586-Driver embedded module as the core controller,select cost-effective generalization MEMS sensor module,independent related interface circuit design of flight control system,hardware platform on the implementation and verify the effectiveness of the two kinds of attitude estimation algorithm,through the system modeling,simulation analysis of backstepping-dynamic inversion controller was designed,targeted for flight control algorithm research.First of all,according to the working principle of quad-rotor and Newton-Euler’s law to establish the mathematical model,and simulated the open-loop flight control system,it shows that the UAV without control is unable to achieve stable state independently.Through the analysis of the resource demand of the system,the core module of the controller,the selection of sensor module and the relevant special interface circuit are designed.Secondly,the real-time and accurate attitude estimation is the basis and precondition for realizing the control of the quad-rotor.In order to obtain the optimal attitude solution information,In order to obtain the optimal attitude solution information,based on the idea of redundancy,an extended Kalman filter algorithm is implemented on the attitude detection module with a micro-controller.In 586-Driver at the same time by using the gradient descent method,through use of the above two methods and test verification,the results show that access to information can satisfy the requirement of quad-rotor control,at the same time to verify the hardware circuit design and the feasibility of the algorithm.Finally,based on the classic PID control algorithm,simulation analysis for the model attitude angular velocity of the body coordinate system and the geographical coordinates of the angular velocity is not equal to,in order to improve the rapidity and stability of the system response,designed the backstepping-dynamic inversion controller,combined with theoretical analysis and MATLAB simulation shows that this control algorithm can more quickly and steady response system input,improve the performance of the system effect obviously.