Abstract
A multi-rotor aircraft is an autonomous and reusable aircraft. It has the advantages of small size, simple structure, vertical take-off and landing, free hovering, and high flexibility, which has become a research hotspot in the field of drone applications. Based on a self-designed and integrated quad-rotor hardware, this paper uses STM32-based ARM flight control board as the core to derive the dynamic model of the quad-rotor in different coordinate systems. In the MATLAB / Simulink simulation environment, a complete quadrotor aircraft nonlinear control model is established in this paper. The quadrotor aircraft dynamics model and PID controller are connected in series to form a complete control system model. The experimental results show that the designed PID-based control method can realize the smooth control of the quadrotor aircraft.
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