Design Of Control System For Quad-rotor UAV Based On STM32

In recent years,with the progress of microelectronics technology and modern control theory,Quad-rotor UAV has gradually been developed.Quad-rotor UAV has been widely used in military reconnaissance,aerial photography for landscape,industrial irrigation and logistics transportation because of its advantages of easy operation and maintenance,flexible attitude adjustment and its weight capacity.Because the Quad-rotor UAV is a four-input,six-output,non-linear under-actuated system,the research on control system and its control algorithm has become a hot and difficult point.This paper designs a Quad-rotor UAV control system based on STM32,and studies the attitude control algorithm of the Quad-rotor UAV.Firstly,the development status of the current Quad-rotor UAV control system is introduced.On the basis of introducing its structure and control principle,the overall structure of the Quad-rotor UAV control system based on STM32 is proposed.Secondly,the main controller based on STM32,the attitude estimation module based on MPU9250,the motor speed regulation module based on PWM,and the wireless communication based on NRF are introduced.The hardware of the control system is selected and the circuit connection is designed.Then,the software flow of the main controller,sensor and wireless communication module is analyzed.By comparing the traditional PID control algorithm with the fuzzy PID control algorithm,and the model of the PID controller is established.The results of the simulation test of MATLAB show that the fuzzy PID control algorithm is superior to the traditional PID control algorithm.At the same time,the process of attitude estimation algorithm based on quaternion is introduced and simulated.Finally,the flight test of the designed Quadrotor UAV control system proves the reliability of the system.The design scheme proposed in this paper has the advantages of low cost,easy operation and maintenance,flexible attitude adjustment and so on,so it has certain popularization value,and it can also provide a reference scheme for scientific researchers to study the technology of Quad-rotor UAV.