基于STM32的四旋翼飞行器的设计与实现  

Design and Implementation of Quad-rotor Helicopter Based on STM32

作　　者：谢义建 陈跃东[1] 舒圣焱 

机构地区：[1]安徽工程大学安徽省电气传动与控制重点实验室,安徽芜湖241000

出　　处：《四川理工学院学报（自然科学版）》2014年第3期42-45,共4页Journal of Sichuan University of Science & Engineering(Natural Science Edition)

基　　金：安徽高校省级自然科学研究重点项目(KJ2013A041);安徽省大学生创新创业训练计划项目(AH201310363005)

摘　　要：四旋翼飞行器属于欠驱动系统,具有四个输入力和六个状态输出,其应用广泛却设计困难。以STM32为控制核心,分析并设计了四旋翼飞行器的各个功能模块和软件流程。高精度的多路传感器在协同工作下,采集飞行器运动信息并将遥控信号发送至STM32处理器,STM32经过处理驱动电机相应运动,调节飞行器姿态。实验结果表明,基于STM32的四旋翼飞行器能够实现姿态调整、悬停、航拍等功能,验证了其设计的合理性。Quad-rotor helicopter belongs to the under-actuated system,with four input forces and six status outputs,and it is widely used but difficult to design. Taking STM32 as the core of control,the Quad-rotor helicopter＇s functional modules and software processes are analyzed and designed. With the collaborative work of high precision multi-channel sensors,the movement information of aircraft is collected and the remote control signal is sent to the STM32 processor. Then STM32 controls the attitude of spacecraft through processing the corresponding movement of the drive motor. The experimental results show that the Quad-rotor helicopter based on STM32 can implement attitude adjustment,hover,aerial photography and other functions,so the rationality of the design is proved.

关 键 词：STM32 四旋翼飞行器 飞行控制器 姿态控制 

分 类 号：TP391.8[自动化与计算机技术—计算机应用技术]