工程设计学报2017，Vol.24Issue(2)：196-202,210,8.DOI:10.3785/j.issn.1006-754X.2017.02.011
基于STM32的X型四旋翼无人机设计
Design of X-type unmanned quadrotor based on STM32
摘要
Abstract
For the flight attitude control of unmanned quadrotor, there still exist some issues on accurate measurement, calculation and output.To acquire a stable flight attitude control, an X-type unmanned quadrotor was designed based on STM32 microprocessor.Dual processors, dual gyroscopes and dual accelerometers were integrated into the hardware architecture.Real time flight attitude information was collected.Quaternion complementary filter algorithm and cascade PID control algorithm were adopted in attitude calculation and output.The experiment results showed that the structure of dual gyroscopes and dual accelerometers had higher measurement accuracy under little angle disturbance, and the attitude angle got a smaller output error with appropriate parameter settings of cascade PID.The results demonstrate that dual sensors can perform stronger noise immunity in attitude measurement, and the designed X-type unmanned quadrotor has good flying performance and can achieve the purpose of flight attitude stability control, which provides guidance for further study on flight control system.关键词
X型四旋翼/STM32/四元数/互补滤波/串级PIDKey words
X-type quadrotor/STM32/quaternion/complementary filter/cascade PID分类
信息技术与安全科学引用本文复制引用
潘春荣,许化..基于STM32的X型四旋翼无人机设计[J].工程设计学报,2017,24(2):196-202,210,8.基金项目
国家自然科学基金资助项目(71361014) （71361014）
