CN105912010A - STM32-based micro four-rotor aircraft and control system thereof - Google Patents
STM32-based micro four-rotor aircraft and control system thereof Download PDFInfo
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- CN105912010A CN105912010A CN201610473795.7A CN201610473795A CN105912010A CN 105912010 A CN105912010 A CN 105912010A CN 201610473795 A CN201610473795 A CN 201610473795A CN 105912010 A CN105912010 A CN 105912010A
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- 238000004891 communication Methods 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000000087 stabilizing effect Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 12
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 239000004065 semiconductor Substances 0.000 claims description 5
- 101150087393 PIN3 gene Proteins 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012913 prioritisation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 239000011551 heat transfer agent Substances 0.000 description 1
- 238000004020 luminiscence type Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
Abstract
The invention provides an STM32-based micro four-rotor aircraft control system, which comprises a main control module, a sensor module, a motor driving module and a communication module, wherein the main control unit comprises an STM32F103C8T6 control chip; the STM32F103C8T6 control chip is respectively connected with the sensor module, the motor driving module and the communication module; the sensor module is used for acquiring sensor data and transmitting the sensor data to the STM32F103C8T6 control chip; the STM32F103C8T6 control chip is used for acquiring the current attitude of the aircraft according to the sensor data; motor control signals are further acquired according to a target attitude; the motor control information is transmitted to the motor driving module; remote control signals are received via the communication module; the target attitude is determined according to the remote control signals; and the motor driving module is used for controlling rotors arranged in four directions according to the motor control information so as to control the attitude of the aircraft. Through selecting the circuit chip of the main control module, the sensor module, the motor driving module and the communication module, the circuit performance is optimized.
Description
Technical field
The present invention relates to a kind of miniature quadrotor based on STM32 and control system thereof.
Background technology
Aircraft can be divided into Fixed Wing AirVehicle and rotor craft according to wing type.In in the past few decades, fixing
Wing unmanned vehicle has had more ripe technology, is relatively fixed wing unmanned vehicle, and the development of rotor craft is the most more
Slowly, this is because the control of rotor unmanned aircraft relatively fixed-wing is complicated, technical merit in early days cannot realize aircraft
Autonomous flight control；But, the advantage that rotor craft but has himself uniqueness: frame for movement is relatively simple, only
Need the rotating speed coordinating rotor motor can realize controlling, fly the most flexible；Do not limited by bigger wing, it is possible to should
In various environment；Possesses the function of autonomous takeoff and landing, system height intelligence, it is possible to achieve more flight appearance
State, such as: vertical hovering, pitching lifting, driftage turn to etc., and attitude of flight vehicle holding capacity is higher.These are excellent
Gesture the most just determines rotor craft will have the most wide application prospect in future.The unmanned vehicle of four rotors is exactly
The aircraft of this " butterfly ", its layout structure is novel, and flying method is unique, is increasingly becoming current flight control field
The focus of research.And how can be effectively improved four rotations by the circuit structure of quadrotor is optimized design
The flight of rotor aircraft controls.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of miniature four rotors based on STM32 and fly
Row device and control system thereof.
A kind of based on STM32 the miniature four-rotor aircraft control system provided according to the present invention, including: master control mould
Block, sensor cluster, motor drive module, communication module；
Described main control unit includes STM32F103C8T6 control chip；
Described STM32F103C8T6 control chip connects described sensor cluster, motor drive module, communication mould respectively
Block；
Described sensor cluster is used for gathering sensing data and being transferred to by described sensing data described
STM32F103C8T6 control chip,
Described STM32F103C8T6 control chip, for obtaining aircraft current pose according to described sensing data, is gone forward side by side
One step obtains motor control signal according to targeted attitude, by the transmission of described motor control information to described motor drive module,
Receive remote signal with by described communication module, determine described targeted attitude according to described remote signal,
Described motor drive module is for controlling the rotor being arranged on four direction according to described motor control information
System, thus control the attitude of aircraft.
As a kind of prioritization scheme, described sensor cluster includes MPU6050 nine axle motion process sensor；Described
Described sensing data is also transferred to described by MPU6050 nine axle motion process sensor acquisition sensing data
STM32F103C8T6 control chip.
As a kind of prioritization scheme, described motor drive module includes 4 metal-oxide-semiconductor drive circuits, each described MOS
Tube drive circuit independently controls one according to the motor control information received from described STM32F103C8T6 control chip respectively
Individual described rotor.
As a kind of prioritization scheme, described communication module include SI4432 RF transmit-receive circuit, serial ports display lamp circuit,
Serial communication interface circuit；Described SI4432 RF transmit-receive circuit, serial ports display lamp circuit, serial communication interface circuit
Connect described STM32F103C8T6 control chip respectively.
As a kind of prioritization scheme, described serial ports display lamp circuit includes the light emitting diode of several parallel connections, described luminescence
One end of diode connects 3.3V voltage stabilizing out-put supply, and the other end connects described STM32F103C8T6 control chip.
As a kind of prioritization scheme, described serial communication interface circuit includes PIN3 interface circuit.
As a kind of prioritization scheme, also include body power source module；Described body power source module includes: 3.3V voltage stabilizing exports
Power supply, battery charger, lithium battery module；
Described 3.3V voltage stabilizing out-put supply and described main control module, sensor cluster, motor drive module, communication module
Connect power supply,
Described battery charger is connected with described 3.3V voltage stabilizing out-put supply,
Described lithium battery module provides 5V supply voltage for described rotor.
Based on same inventive concept, the present invention also provides for a kind of miniature quadrotor based on STM32, also includes
Described a kind of based on STM32 miniature four-rotor aircraft control system.
Compared with prior art, the present invention has a following beneficial effect:
The present invention is selected by the circuit chip for main control module, sensor cluster, motor drive module, communication module
Selecting, optimize its circuit performance, sensor cluster selects MPU6050 nine axle motion process sensor can improve sensor
Integrated level and for main control module provide comprehensive heat transfer agent.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing be briefly described, it is therefore apparent that below describe in accompanying drawing be only some embodiments of the present invention,
For those skilled in the art, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings
Obtain other accompanying drawing.In accompanying drawing:
Fig. 1 is the circuit diagram of the 3.3V voltage stabilizing out-put supply of a kind of alternative embodiment；
Fig. 2 is the circuit diagram of the motor drive module of a kind of alternative embodiment；
Fig. 3 is the circuit diagram of the MPU6050 nine axle motion process sensor of a kind of alternative embodiment；
Fig. 4 is the SI4432 high-performance radio-frequency transceiver wireless module figure of a kind of alternative embodiment；
Fig. 5 is the serial ports display lamp figure of a kind of alternative embodiment；
Fig. 6 is the serial communication interface of a kind of alternative embodiment；
Fig. 7 is the USB circuit of the remote controller of a kind of alternative embodiment；
Fig. 8 is the battery charger of a kind of alternative embodiment；
Fig. 9 is the main control chip circuit diagram of a kind of alternative embodiment；
Figure 10 is a kind of based on STM32 the miniature four-rotor aircraft control system functional block diagram of a kind of alternative embodiment.
Detailed description of the invention
Below in conjunction with accompanying drawing, in the way of specific embodiment, the present invention is described in detail.Following example will assist in this
The technical staff in field is further appreciated by the present invention, but limits the present invention the most in any form.It should be pointed out that, also may be used
To use other embodiment, or the embodiment enumerated herein is carried out amendment structurally and functionally, without departing from
The scope of the present invention and essence.
In the embodiment of a kind of based on STM32 the miniature four-rotor aircraft control system of present invention offer, such as Figure 10
Shown control system, including: main control module, sensor cluster, motor drive module, communication module；
As it is shown in figure 9, described main control unit includes STM32F103C8T6 control chip；
Described STM32F103C8T6 control chip connects described sensor cluster, motor drive module, communication mould respectively
Block；
Described sensor cluster is used for gathering sensing data and being transferred to by described sensing data described
STM32F103C8T6 control chip,
Described STM32F103C8T6 control chip, for obtaining aircraft current pose according to described sensing data, is gone forward side by side
One step obtains motor control signal according to targeted attitude, by the transmission of described motor control information to described motor drive module,
Receive remote signal with by described communication module, determine described targeted attitude according to described remote signal,
Described motor drive module is for controlling the rotor being arranged on four direction according to described motor control information
System, thus control the attitude of aircraft.
Above-mentioned miniature four-rotor aircraft control system based on STM32 is the control system of body part, and typically also
Equipped with remote controller, remote controller is provided with for the remote controller USB circuit with compunlcation, and remote controller USB circuit sees
Fig. 7.
The rotating speed that the present invention controls four rotors in real time by STM32 single-chip microcomputer realizes smooth flight, and rotor is symmetrically distributed in
Four direction around body, four rotors are in sustained height plane, and the structure of four rotors and radius are all
Identical, four motors are symmetrically installed on the bracket end of aircraft, and support intermediate space lays flight-control computer with outer
Portion's equipment.Quadrotor changes variable rotor speed by four motor speeds of regulation, it is achieved the change of lift, thus
Control attitude and the position of aircraft.
As it is shown on figure 3, described sensor cluster includes MPU6050 nine axle motion process sensor；Described MPU6050
Described sensing data is also transferred to described STM32F103C8T6 control by nine axle motion process sensor acquisition sensing datas
Coremaking sheet.
Described MPU6050 nine axle motion process sensor is the first 9 axle motion process sensors in the whole world.It is integrated with 3
Axle MEMS gyroscope, 3 axle mems accelerometers, and extendible digital moving processor (DMP, a Digital
Motion Processor), this extendible digital moving processor I2C interface connects a third-party numeral and passes
Sensor is extended, such as magnetometer.MPU-6050 can also connect the digital sensor of non-inertia by its I2C interface,
Such as pressure transducer.Gyroscope and accelerometer have been used the analog-digital converter of three 16 by MPU-6050 respectively
(ADC) analog quantity, measured is converted into exportable digital quantity.For accurate tracking motion quickly and at a slow speed,
The measurement scope of MPU6050 nine axle motion process sensor is all that user is controlled.MPU6050 is provided with on a sheet
The pushup storage (FIFO) of 1024 bytes, contributes to reducing system power dissipation.MPU6050 and all devices are posted
Communication between storage uses the I2C interface of 400kHz.It addition, the most embedded temperature sensing on MPU6050 sheet
Device and under working environment only have ± 1% variation agitator.MPU6050 chip size 4 × 4 × 0.9mm, uses QFN
Encapsulation (without lead-in wire square package), can bear the impact of maximum 10000g, and have programmable low pass filter.Close
In power supply, MPU-6050 can support VDD scope 2.5V ± 5%, 3.0V ± 5%, or 3.3V ± 5%.
In embodiment as shown in Figure 2, described motor drive module includes 4 metal-oxide-semiconductor drive circuits, each described
Metal-oxide-semiconductor drive circuit is independent according to the motor control information received from described STM32F103C8T6 control chip respectively
Control a described rotor.
Described communication module includes SI4432 RF transmit-receive circuit, serial ports display lamp circuit, serial communication interface circuit；
Described SI4432 RF transmit-receive circuit, serial ports display lamp circuit, serial communication interface circuit connect described respectively
STM32F103C8T6 control chip.Described SI4432 RF transmit-receive circuit is as shown in Figure 4.
As it is shown in figure 5, described serial ports display lamp circuit includes the light emitting diode of several parallel connections, described light emitting diode
One end connect 3.3V voltage stabilizing out-put supply, the other end connect described STM32F103C8T6 control chip.
Described serial communication interface circuit includes PIN3 interface circuit as shown in Figure 6.
Also include body power source module；Described body power source module includes: the 3.3V voltage stabilizing out-put supply shown in Fig. 1,
Battery charger shown in Fig. 8, lithium battery module；
Described 3.3V voltage stabilizing out-put supply and described main control module, sensor cluster, motor drive module, communication module
Connect power supply,
Described battery charger is connected with described 3.3V voltage stabilizing out-put supply, and described battery charger is as shown in Figure 8.
Described lithium battery module provides 5V supply voltage for described rotor.
Described four-rotor aircraft control system also includes remote controller, and described remote controller is for leading to described according to outside input
Letter module sends described remote signal, and described communication module is transferred to the institute of described main control module after receiving described remote signal
Stating STM32F103C8T6 control chip, described STM32F103C8T6 control chip is carried out according to described remote signal
The setting of targeted attitude.
Based on same inventive concept, present invention also offers a kind of miniature quadrotor based on STM32, its bag
Include described a kind of based on STM32 miniature four-rotor aircraft control system.
The foregoing is only presently preferred embodiments of the present invention, those skilled in the art know, without departing from the present invention's
In the case of spirit and scope, these features and embodiment can be carried out various change or equivalent.It addition,
Under the teachings of the present invention, these features and embodiment can be modified to adapt to particular situation and material and
Without departing from the spirit and scope of the invention.Therefore, the present invention is not limited to the particular embodiment disclosed,
Embodiment in the range of fallen with claims hereof broadly falls into protection scope of the present invention.
Claims (8)
1. a miniature four-rotor aircraft control system based on STM32, it is characterised in that including: main control module,
Sensor cluster, motor drive module, communication module；
Described main control unit includes STM32F103C8T6 control chip；
Described STM32F103C8T6 control chip connects described sensor cluster, motor drive module, communication mould respectively
Block；
Described sensor cluster is used for gathering sensing data and being transferred to by described sensing data described
STM32F103C8T6 control chip,
Described STM32F103C8T6 control chip, for obtaining aircraft current pose according to described sensing data, is gone forward side by side
One step obtains motor control signal according to targeted attitude, by the transmission of described motor control information to described motor drive module,
Receive remote signal with by described communication module, determine described targeted attitude according to described remote signal,
Described motor drive module is for controlling the rotor being arranged on four direction according to described motor control information
System, thus control the attitude of aircraft.
A kind of miniature four-rotor aircraft control system based on STM32 the most according to claim 1, its feature
Being, described sensor cluster includes MPU6050 nine axle motion process sensor；Described MPU6050 nine axle moves
Process sensor acquisition sensing data and described sensing data is transferred to described STM32F103C8T6 control chip.
A kind of miniature four-rotor aircraft control system based on STM32 the most according to claim 1, its feature
Being, described motor drive module includes 4 metal-oxide-semiconductor drive circuits, and each described metal-oxide-semiconductor drive circuit is respectively
Motor control information according to receiving from described STM32F103C8T6 control chip independently controls a described rotor.
A kind of miniature four-rotor aircraft control system based on STM32 the most according to claim 1, its feature
Being, described communication module includes SI4432 RF transmit-receive circuit, serial ports display lamp circuit, serial communication interface circuit；
Described SI4432 RF transmit-receive circuit, serial ports display lamp circuit, serial communication interface circuit connect described respectively
STM32F103C8T6 control chip.
A kind of miniature four-rotor aircraft control system based on STM32 the most according to claim 4, its feature
Being, described serial ports display lamp circuit includes the light emitting diode of several parallel connections, and one end of described light emitting diode connects
3.3V voltage stabilizing out-put supply, the other end connects described STM32F103C8T6 control chip.
A kind of miniature four-rotor aircraft control system based on STM32 the most according to claim 4, its feature
Being, described serial communication interface circuit includes PIN3 interface circuit.
A kind of miniature four-rotor aircraft control system based on STM32 the most according to claim 1, its feature
It is, also includes body power source module；Described body power source module includes: 3.3V voltage stabilizing out-put supply, battery charged electrical
Road, lithium battery module；
Described 3.3V voltage stabilizing out-put supply and described main control module, sensor cluster, motor drive module, communication module
Connect power supply,
Described battery charger is connected with described 3.3V voltage stabilizing out-put supply,
Described lithium battery module provides 5V supply voltage for described rotor.
8. a miniature quadrotor based on STM32, it is characterised in that also include that claim 1-7 is arbitrary
Described a kind of based on STM32 miniature four-rotor aircraft control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610473795.7A CN105912010A (en) | 2016-06-24 | 2016-06-24 | STM32-based micro four-rotor aircraft and control system thereof |
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| CN201610473795.7A CN105912010A (en) | 2016-06-24 | 2016-06-24 | STM32-based micro four-rotor aircraft and control system thereof |
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Cited By (3)
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| CN109760851A (en) * | 2019-03-18 | 2019-05-17 | 大连理工大学 | A kind of quadrotor test adjusting bracket |
| CN113184186A (en) * | 2021-05-28 | 2021-07-30 | 中国计量大学 | Four rotor unmanned aerial vehicle snatch and put in control circuit |
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