【摘要】 四旋翼飞行器是一种新型无人飞行器,其结构简单,飞行稳定性强,具有很强的实用价值。基于其上述特性,提出一种以STM32单片机为核心的四旋翼飞行器的设计,主要包括飞行器的结构以及基本原理的介绍、硬件部分的设计与选择、软件部分的设计与实现。在硬件部分,主要是以STM32系列微处理器为主控核心,MPU-6050为飞行姿态测量传感器,2.4GHz全球开放频段为无线数据传输控制。其中具体各元件的作用与选择将分别从主控单元、IMU模块、电机驱动模块、无线通讯模块及电源模块进行阐述。在软件部分,主要是通过四元数算法实现姿态解算和PID算法来实现姿态控制。最后对设计出的四旋翼飞行器提出一些附加功能,使其更加人机友好化。更多还原

【Abstract】 Quadrotor is a new type of unmanned aerial vehicle with simple structure,strong flight stability and high use value.The framework designed in this paper is based on STM32 MCU.There mainly include the structure of the aircraft,the introduction of the basic principle,the design and selection of the hardware subpart,the design and implementation of the software subpart.In the hardware part,it is mainly based on STM32 series microprocessor as the core of control,MPU-6050 as the flight attitude sensor and 2.4GHz in the world as wireless data transmission control.In which the choice and function of these specific components will be separately clarified as the main control unit,IMU module,motor driver module,wireless communication module and power module.In the software part,it is mainly realized through quaternion algorithm in attitude determination and PID algorithm in attitude control.Finally,the design is improved by some additional functions to make it more user-friendly.更多还原