Design and implementation of control system for four axis aircraft based on stm32f4 and adaptive PID

• 1、Liaoning Technical University, Xingcheng , Huludao , Liaoning 125105

Abstract：This study designs a highly robust flight control system based on STM32 microcontroller to meet the application requirements of quadcopter aircraft in low altitude remote sensing. The quadcopter aircraft, with its compact mechanical structure and highly integrated electronic system, has demonstrated significant advantages in surveying, monitoring, and other scenarios. This design uses the STM32F4 series microcontroller as the core processor to construct an attitude perception system with the MPU6050 nine axis inertial measurement unit (IMU) as the core. Data fusion and attitude calculation are achieved through Kalman filtering. The hardware system adopts lightweight aviation grade plastic frame, equipped with high response hollow cup motor and carbon fiber propeller, combined with PID sliding mode hybrid control algorithm, effectively improving the system\'s dynamic response and anti-interference ability. The remote control system uses the STM32F4 Discovery development board to receive remote control signals and analyze commands. It processes attitude data in real-time through flight control algorithms, ultimately achieving centimeter level positioning accuracy and ± 2 attitude maintenance capability. The experiment shows that the aircraft can still maintain stable hovering at a wind speed of 10m/s, with a maximum flight speed of 18km/h. This successfully verifies the system\'s fast response and robustness in complex environments, providing a new technical solution for the engineering application of low-cost unmanned aerial vehicle platforms.

Keywords： STM32F4Discovery Quadcopter PID algorithm Data fusion Attitude and Heading Reference System(AHRS)