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A four-axle aircraft is a compact,easy-to-control new aircraft.It has good stability,low cost,flexibility on the control.It can take off and land vertically,and has low requirements for taking-off or landing.It has been applied to the field of plant protection,military reconnaissance,filming and other fields,and has a very broad development.The former four-axis aircraft involve a lot of technology,which has great research significance.This paper introduces the controlling board of the four-axis Agriculture aircraft;the research status and significance elements,solving the algorithm function,and introduce the PID algorithm used in the quadcopter.Then,for the principle structure of the quadcopter,we used the ATmega 2560 as the main control chip for the flight controller,plus the MU6050 gyroscope,the MS5611 barometer,the HMC5883 a low magnetic field meter,GPS module Wildfire WF-NEO-6M,Motor module TIDA-00643 is compact motor controller designed for high power and other devices for the final product of the designing.The main control program runs was developed in Arduino system.The sensor task continuously collects the attitude angle of the aircraft and performs filtering processing.The attitude-solving task acquires the attitude angle transmitted by the sensor.Using the quaternion to solve the attitude,the Euler angel of the quadcopter and the controlling signal pass through the remote control(RC).The Euler angle through the double closed loop PID operation obtain the control amount of each attitude angle,and then outputs the corresponding control amount to the flight of each motor to control the four-axis aircraft,and finally carries on the flight.The production of the quadcopter prototype and the commissioning of the PID parameters verified the rationality of the hardware design and software design of the quadcopter through the non-test flight test of the quadcopter.