Research On Attitude Control Algorithm Based On Quadrotor

The four-rotor aircraft has a series of advantages such as flexible response,fixedpoint flight,easy operation and low production cost,which makes it widely used in various fields of daily life.This paper takes quadrotor aircraft as the research object,and independently designs a flight control hardware platform based on STM32 as the main controller.Based on this,the data fusion of the aircraft and the complementary filtering flight control algorithm are designed and studied.Firstly,a series of detailed analysis of the flight control principles of the four-rotor aircraft,a detailed reasoning of the navigation data conversion between the aircraft carrier coordinate system and the navigation coordinate system,and based on the basic laws of torque balance and Newton’s law The mathematical modeling of the quadcopter is carried out.Secondly,the hardware platform of the quadcopter was designed and developed.In the design process,a modular design idea was adopted,and the main controller module,power management module,motor drive module,wireless communication module and sensor acquisition module were implemented.The detailed design is introduced,and the selection of components used in each module is explained and introduced in detail,thus the hardware control platform of the aircraft is built.Thirdly,due to the characteristics of temperature drift,zero drift and susceptibility to external factors in the sampling sensors of the quadcopter,the complementary filter has been further improved to make the data collected by the sensor more real-time,more stable and reliable,and not easily affected by the external environment Impact.This provides reliable source data for the entire attitude control system of the quadcopter,making the attitude control system more accurate and reliable.On this basis,the source data is attitude-resolved and the flight control system of the quadcopter is introduced in detail.It is improved on the basis of the traditional PID controller,and a double closed loop based on the attitude angle of the aircraft is designed.PID control method,and validated.Finally,the designed four-rotor aircraft was tested for flight.The software flow of the entire aircraft control system was designed and analyzed in detail.Combined with the experimental test of the actual four-rotor aircraft,the aircraft control system was jointly debugged.The problems encountered in the debugging process and the solutions were listed.Through detailed research and analysis of the attitude data returned from the aircraft,the final test results show that the four-rotor aircraft control system has rich and diverse flying functions,the flight attitude control is accurate and stable,and it is not easily interfered by the external environment,which further confirms the aircraft attitude Feasibility of control methods.