基于STC15 MCU的微型四轴飞行器设计

摘要

The micro four⁃axis aircraft belongs to the rotary wing type aircraft,has the advantages of small volume,simple structure and low design cost,and is widely used in military detection,information collection,communication nodes enhance⁃ment and other fields. The STC15W4K58S4 chip is taken as the control core of the micro four⁃axis aircraft,the NRF24L01 is adopted to realize the wireless remote control,and MPU6050 gyroscope is employed to monitor the posture. The principle of com⁃plementary filter is used to design the posture fusion algorithm. The incremental PID control algorithm is adopted to adjust the output duty cycle of PWM to control the motor speed of the aircraft. The testing result indicates the flight posture of the aircraft can be controlled with the design method.%微型四轴飞行器属于旋翼式飞行器，具有体积小、结构简单、设计成本低等优点，在军事探测、信息采集、增强通信节点等方面应用广泛。设计采用STC15W4K58S4芯片作为微型四轴飞行器的控制核心，以 NRF24L01实现无线遥控通信、MPU6050陀螺仪进行姿态监测，采用互补滤波器原理设计姿态融合算法，同时采用 PID增量控制算法调整PWM输出占空比，实现对飞行器电机转速的控制。经过测试可实现对飞行器的姿态控制。