基于STM32的微型四旋翼飞行器的设计与研究  

Design and Research of Micro Quadrotor Aircraft Based on STM32

作　　者：李亚杰[1] 葛宇[1] 张晔[1] LI Ya-jie;GE Yu;ZHANG Ye(Hebei Institute of Architecture and Civil Engineering,Zhangjiakou 075000 China)

机构地区：[1]河北建筑工程学院,河北张家口075000

出　　处：《河北建筑工程学院学报》2020年第4期125-130,共6页Journal of Hebei Institute of Architecture and Civil Engineering

基　　金：河北省重点研发计划自筹项目(17270203)。

摘　　要：四轴飞行器的设计原理及控制算法是一个涉及机械、运动学原理、自动控制和算法原理的多领域复杂性问题,故而这些年来一直是一个研究热点。采用STM32F4芯片,配合MPU6050(整合性6轴运动处理组件)、24C02(存储芯片)、气压计、磁力计及其它相应元件构成完整的一个飞控系统。以keil uvision5作为开发环境,C语言为编程工具,完成了对四轴飞行器的稳定飞行的实现和控制。在实验中首先反复修改、调试,确保了四轴飞行器可平稳起飞、降落及姿态控制后再着手巡航功能的实现。The design principle and control algorithm of quadcopter is a multi-domain complex problem involving mechanics,kinematics,automatic control and algorithm principles,so it has been a research hotspot in recent years.In this paper,the STM32F4 chip produced by stmicroelectronics group,MPU6050(integrated 6-axis motion processing module),24C02(memory chip),barometer,magnetometer and other corresponding components will be used to form a complete flight control system.With keil uvision5 as the development environment and c language as the programming tool,the realization and control of the stable flight of quadcopter is completed.In the experiment,it was revised and debugged repeatedly to ensure that the quadcopter can take off and land smoothly and control its attitude before starting to cruise.

关 键 词：四轴飞行器 姿态解算 PID控制 惯性导航 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]