2023 IEEE 6th International Conference on Information Systems and Computer Aided Education (ICISCAE)

Research on key technologies of four-rotor UAV

flight control system based on STM32
2023 IEEE 6th International Conference on Information Systems and Computer Aided Education (ICISCAE) | 979-8-3503-1344-4/23/$31.00 ©2023 IEEE | DOI: 10.1109/ICISCAE59047.2023.10392652

microcontroller
Zhiwei Ren*,# Zucai Tang# Ranran Wang#
School of Geophysics and Information School of Automation Leicester International Institute
Technology Shenyang Aerospace University Dalian University of Technology
China University of Geosciences Shenyang, China Panjin, China
(Beijing) [email protected] [email protected]
Beijing, China #
These authors contributed equally.
[email protected]

Abstract—In order to realize the self-stabilization control of control system of the four-rotor UAV, which achieved good
the four-rotor UAV, the dynamic modeling and control of the control accuracy and response speed. Aiming at the error
four-rotor UAV are carried out. In the modeling, the dynamic problem of direct attitude determination of accelerometer and
simulation model of the four-rotor aircraft is established by magnetometer sensors, a four-element complementary
using the combination of mechanism modeling and filtering fusion algorithm is proposed in literature [3], which
experimental measurement. The inverse kinematics algorithm is reduces the drift error, optimizes the dynamic performance,
used to decompose the attitude model into three independent and achieves the effect of stable flight. Reference [4]
subsystems, which control the roll, pitch and yaw motion of the proposed a position-attitude control algorithm based on back
body respectively. The sliding mode controller based on the
stepping integral-iterative learning control and active
stability theorem is designed for the decomposed subsystems
through the distributed control strategy, and the whole system
disturbance rejection control, which improved the tracking
is simulated on the Matlab platform. The simulation results performance of the system in the effective time.
show that the dynamic model and PID controller can effectively In this paper, a four-rotor UAV flight control system is
realize the self-stabilization control of the aircraft, which lays a developed based on STM32 single-chip microcomputer. By
foundation for the subsequent control research of the four-rotor using STM32 single-chip microcomputer as the core
aircraft. controller, a highly flexible flight control algorithm and real-
time data processing ability are realized[5]. A set of main
Keywords—four-rotor UAV, dynamic modeling, flight
principle, inverse kinematics algorithm, feedforward PID control
control program is designed and improved to realize the space
algorithm attitude control of the four-rotor aircraft.

I. INTRODUCTION II. DYNAMIC ATTITUDE CALCULATION AND MATHEMATICAL

MODELING OF FOUR-ROTOR UAV
The four-rotor UAV has the advantages of vertical take-
off and landing and maneuverability, and is widely used in A. The flight principle of four-rotor UAV
aerial photography, post-disaster search and rescue, The four-rotor UAV controls and realizes various states
agricultural monitoring and other fields. It has the advantages by manipulating the speed of the four rotors. Usually, the
of small volume and mass, good concealment and safety, layout of the four-rotor has a uniform cross-shaped
strong maneuverability, flexible operation and low cost. circumferential distribution and an H-shaped diagonal
However, it is still a challenging problem to achieve stable, distribution. Among these two layouts, the cross-shaped
accurate and intelligent four-rotor UAV flight. In order to layout is the most common. Each rotor is driven by an electric
solve this problem, researchers have been committed to motor and is equipped with a propeller. The rotation speed of
developing efficient and reliable flight control systems. With the propeller controls the lift and attitude of the aircraft. This
the rapid development of single-chip microcomputer paper takes this layout as an example to illustrate its flight
technology, the UAV flight control system based on STM32 principle[6].
single-chip microcomputer has become a research hotspot.
STM32 single-chip microcomputer has attracted much The flight principle of the four-rotor UAV is based on two
attention because of its powerful computing power, low main principles: attitude control and thrust balance. Attitude
power consumption, rich peripheral interface and extensive control is to control the attitude of the aircraft by adjusting
development support. the speed and torque of the rotor, including roll, pitch and
yaw, as shown in Fig.1.The thrust balance is to control the lift
In Reference [1], aiming at the difficulties in control and of the aircraft by adjusting the speed of the rotor to achieve
the limitations of traditional single control algorithm, vertical take-off and landing and hovering[7].
combined with the idea of variable universe and conventional
fuzzy PID control, the variable universe fuzzy PID control In terms of attitude control, the four-rotor UAV controls
has the characteristics of fast response, excellent stability and the attitude by adjusting the speed of the four rotors. When
small overshoot. Reference [2] proposed a control system the speed of the four rotors is equal, the aircraft keeps flying
based on PID control and simulated it in Matlab through the horizontally. If the speed of a rotor is increased or decreased,

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it will cause the aircraft to roll, pitch or yaw. Accurate attitude related to the physical structure of the four-rotor aircraft. The
control can be achieved by skillfully controlling the speed origin of the body coordinate system is usually selected at the
difference of the four rotors. For example, if the aircraft rolls center of mass or center of gravity of the four-rotor aircraft,
to the right, the rotation speed of the right rotor can be and the coordinate axis is aligned with the main structural
appropriately increased to generate more lift, resulting in axis of the four-rotor aircraft.
rolling motion of the aircraft.
Geographical coordinate system E (OeXeYeZe):
Geographical coordinate system is the reference system of the
earth 's surface, usually using the earth 's latitude and
longitude coordinate system. The geographic coordinate
system is used to describe the position and heading of the
four-rotor aircraft in space. The navigation coordinate system
and carrier coordinate system of the four-rotor UAV are
shown in Fig. 3:

Fig. 1. Pitch, roll, yaw attitude control

Secondly, thrust balance is the key to achieve vertical take-

off and landing and hovering. When the total thrust of the four
rotors is equal to the weight of the aircraft, the aircraft can
remain hovering. If the total thrust is increased, the aircraft
will rise upwards, while reducing the total thrust will cause the
aircraft to fall, as shown in Fig. 2. In order to achieve precise
height control, the speed of the four rotors needs to be adjusted
Fig. 3. Navigation coordinate system and carrier coordinate system
to achieve thrust balance. This means that according to the
current position and attitude of the aircraft, by changing the
2) Kinematics modeling of four-rotor UAV
speed of the rotor, the total thrust is equal to the gravity, so as
to achieve stable vertical take-off and landing and hovering. The force of the UAV is composed of gravity and the lift
generated by the four rotors, while the rotor lift torque, anti-
torque and rotor gyroscopic torque are the torques of the
UAV[8]. The rotational dynamics model can be obtained
according to the theorem M = dH :
dt

.
I Ω+ Ω × IΩ= M f − M d (1)

The moment of inertia of the rigid body is I, and Ω

represents the angular velocity. Because the structure of the
four-rotor UAV studied in this paper is symmetrical, I can be
expressed as:
Fig. 2. Vertical positional model

B. Four-rotor flight control system dynamics model Ix 0 0

1) Description of coordinate system and its conversion I =  0 Iy 0  (2)
relationship
In order to accurately describe the position change and  0 0 I z 
attitude change of an object and establish a model that meets
the requirements, it is necessary to define three coordinate Ix,Iy,Iz can represent the moment of inertia of the aircraft
systems of geography, carrier and navigation. around oxb, oyb, ozb.
Navigation coordinate system N (OnXnYnZn): According Mf is the moment obtained by the propeller system, and
to common sense, the geographic coordinate system is stable Md is the gyroscopic moment generated by the gyroscopic
in a position without transformation. The carrier coordinate effect. Mf can be expressed as:
system defined on the UAV will follow the UAV to generate
various azimuth transformations. The navigation coordinate
system is used as a reference and cannot be arbitrarily lb ( w32 + w42 − w12 − w22 ) 
l ( F3 + F4 − F1 − F2 )   
transformed. Therefore, the navigation coordinate system is   lb ( w22 + w32 − w12 − w42 )  (3)
used in conjunction with the geographic coordinate system. M=
f l ( F2 + F3 − F1 − F4 )=
  
 F1 + F3 − F2 − F4   d ( w12 + w32 − w22 − w42 ) 
The carrier coordinate system B (ObXbYbZb) is directly  

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 l represents the distance between the center of the rotor Where Ci denotes cos i and Si denotes sin i.
and the center of mass of the fuselage, d represents the drag
coefficient of the rotor, w represents the rotor speed, Fi Considering the flight characteristics of the UAV, in order
represents the lift generated by the four rotors. to simplify the controller process, the gyroscopic effect and
the influence of air resistance generated during the flight are
When the aircraft is rolling and pitching, the gyroscopic neglected. The UAV dynamic model is simplified as follows:
effect Md can be expressed as:

 I rθW      I y − Iz
 l
  =ϕ θψ  + U2
M d =  I rϕW  (4)   Ix  Ix
 0   I −I  l
  θ
= ϕψ
   z x  + U3
  I  I
Among them, is the moment of inertia,
Ir   y  y
2 2 2 2
W = w + w − w − w and φ, θ, ψ represent the angles 
1 3 2 4
=ψ    Ix − I y  + 1 U
θϕ
around the x-axis, y-axis, and z-axis, which are the rolling   4
angle, pitch angle, and yaw angle, respectively.   Iz  Iz (8)

1
When the four-rotor aircraft rotates in a small range, the
attitude angular velocity of the aircraft can be equal to the
= 

x (C ψ Sθ Cϕ + Sψ Sϕ )
m
U1
angular velocity of the coordinate axis around the body 
coordinate system, that is: = 

y ( Sψ Sθ Cϕ − Cψ Sϕ ) m1 U1

ϕ = p
 = z
 

( Cθ Cϕ ) m1 U1 − g
θ = q (5)
ν = r III. FOUR-ROTOR UAV CONTROL ALGORITHM DESIGN

In order to solve the robustness problem of the traditional
Ui is defined as the control input of four control channels, PID algorithm in the control of the four-rotor UAV, this paper
which are: introduces the design of the attitude loop controller of the
feedforward PID control algorithm. When designing the
attitude control loop, if it is assumed that there is a simple
U1= b ( w22 + w42 + w32 + w12 ) differential relationship between the attitude angle and the
 angular velocity, it is generally aimed at the situation where
U 2=
 b ( w32 + w42 − w12 − w22 ) the attitude angle is small. In order to expand the scope of
application, this paper uses the inverse kinematics algorithm
 (6)
b ( w22 + w32 − w12 − w42 )
to decompose the attitude model into three independent
U 3= subsystems, which control the roll, pitch and yaw motion of
 the body respectively. The distributed control strategy is used
U=
4 d ( w12 + w32 − w2 − w42 ) to design the sliding mode controller based on the stability
theorem for the decomposed subsystems[9]. This method can
In summary, the nonlinear mathematical model of the effectively improve the robustness and stability of the four-
four-rotor aircraft can be obtained: rotor UAV control system and make it more reliable in
complex environments.
A. Attitude loop controller design based on feedforward PID
    I y − I z  − I r θW + l U control algorithm
ϕ θψ
=
Under the assumption that φ = p , θ = q , ψ = r are
2
  Ix  Ix Ix
 I −I  I flying in the case of small attitude angle, the attitude angle
θ ϕψ l model of quadrotor UAV can be simplified as follows :
=    z x  − r ϕW + U 3
  I  I Iy
  y  y
 
   Ix − I y  + 1 U Uφ
=ψ θϕ   4 (7) =φ + fφ
  Iz  Iz  Jx
 
1 −k x
 

x= ( Cψ Sθ Cϕ + Sψ Sϕ ) U1 + dx
m m = θ
Uθ
+ fθ (9)
  Jy
1 − k
 
y= ( Sψ Sθ Cϕ − Cψ Sϕ ) U1 + dy y
m m

=
Uψ
 ψ + fψ
 1 −kdz  Jz
= z ( Cθ Cϕ ) U1 +
  z − g
 m m

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 Where, 1
 
 0 0 
Jx
J y − Jz Jr  
=fφ ( ) qr + ( − w1 + w2 − w3 + w4 ) q (10)  1 
Jx Jx G =  0 0  (16)
 Jy 
Jx − J y  1 
fψ = ( ) pq (11)  0 0 
Jz  Jz 

Jz − Jx J According to the method of inverse kinematics, the control

=fθ ( ) pr − r ( − w1 + w2 − w3 + w4 ) p (12) algorithm is designed as follows:
Jy Jy

Based on the traditional PID algorithm, this paper adopts u = G −1 (− f ( x) + xdes ) (17)
the decentralized control strategy, and controls the related
trajectory planning through feedforward and nonlinear Among them, the expected condition signal is xdes , and
compensation. For the related paths in the attitude stabilization
controller, the corresponding control algorithm is designed as the dynamic characteristics of x and xdes have the same
follows: properties after the inverse kinematics control of the system.
Assuming that the constant coefficient matrices
u=φ J x (k pφ eφ + kiφ ∫ eφ dt + kdφ eφ + s (φc ) − fφ ) K [k p kq kr ]T and
= = v [v p vq vr ] , the new system model

 is expected to be established after the inverse kinematics is
u=θ J y (k pθ eθ + kiθ ∫ eθ dt + kdθ eθ + s (θc ) − fθ ) (13) introduced as follows:

u= J z (k pψ eψ + kiψ ∫ eψ dt + kdψ eψ + s (ψc ) − fψ )
ψ
x = Kv (18)
The relative deviations of the corresponding tilt angles are
At this time, the attitude angular velocity model is
eφ= φc − φ , e= ψ ψ c −ψ and eθ= θ c − θ , respectively. completely decomposed, and the decomposition process is
The proportional, integral, and differential coefficients of the illustrated by the angular velocity control loop structure
diagram, as shown in Fig.4.
rotation angle control law are k pφ , kiφ and kdφ ,
respectively. The proportional, integral, and differential
coefficients of the pitch angle control law are k pθ , kiθ and
kdθ , respectively. The proportional, integral, and differential
coefficients of the yaw angle control law are k pψ , kiψ and
kdψ , respectively.
B. Controller design based on hybrid algorithm of inverse
kinematics and sliding mode control
1) Attitude angular velocity model decoupling and
Fig.4. Structure diagram of angular velocity control loop
control
The angular velocity model of the four-rotor UAV is In view of the poor robustness of the control system
defined as follows: designed by the simple inverse kinematics method, after
decoupling by inverse kinematics, the stability theorem
=x f ( x) + Gu (14) sliding mode method can be used to deal with each
decomposed attitude channel to realize the design of the
Where, controller. In the front, the complete decomposition of each
attitude angular velocity channel is realized by the inverse
kinematics method. If the attitude angular velocity channel has
 J y − Jx J 
[( ) qr + r (− w1 + w2 − w3 + w4 )q  the same characteristics, k= p k=
q kr is selected. The
 Jx Jx  following is an example of p-channel stability theorem sliding
 J −J J 
=f ( x) [( z x
) pr + r (− w1 + w2 − w3 + w4 ) p  (15) mode controller design. From formula (18), we can get:
 Jy Jx 
 
 J − Jy
( x ) pq  p = k p v p (19)
 Jz 

The reference input of the rolling angular velocity is

defined as pc , and the output error is e= p pc − p . The
following sliding surface equation is designed:

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 s p c p ∫ e p dt + e p [φ θ ψ]
T
= (20) Rewrite the defined x = into the following
form.
The value of the design constant c p is proportional to the
speed when the sliding surface approaches the origin. In order x = g1 ( x)u (25)
to ensure the existence of sliding mode control and the
stability of the system, this paper adopts the method of where,
stability theorem to design. The stability theorem is as follows:

−ε p sgn( s p ) − k sp s p
s p = (21)
 
1 sin φ tan θ cos φ tan θ 
 
where ε p and k sp are positive numbers, and the sign = g1 ( x) 0 cos φ − sin φ  (26)
 sin φ cos φ 
function is denoted by sgn() . Since s p s p < 0 , the stability 0 
of the system can be guaranteed. The exponential law of the  cos θ cos θ 
approaching process represented by (21) is superimposed on
u = [ p q r]
T
a constant velocity law at the same time. The characteristics (27)
of the motion are only related to the initial state and the
parameters ε p and k sp , that is, the change of the system state
1 π
is independent of the existence of the disturbance. The Since g1 ( x) = obviously when θ ≠ ± , the
approaching mode has certain robustness, and its quality is cos θ 2
realized by the selection of ε p and k sp . Generally speaking, inverse kinematics of the system exists. Therefore, the
following control algorithm can be designed[12]:
in order to weaken the influence of ' jitter ' and speed up the
normal flight, a smaller ε p should be selected and a larger u = g1 ( x) −1 xdes (28)
ksp should be selected. Derivation of formula (20) can be
obtained[10]. At this time, x and xdes have the same dynamic
characteristics, define the constant coefficient matrix
s p = c p e p + p c − k p v p (22) T
K =  kφ kθ kψ  , V =  vφ vθ vψ  .After the inverse
kinematics decomposition, a new system model is obtained as
Comprehensive formula (21) and formula (22) are shown in formula (22) :
available, and the rolling angular velocity control algorithm is
designed as follows: x = Kv (29)

1 In order to facilitate the understanding of the above

vp
= (c p e p + p c + ε p sgn( s p ) + ksp s p ) (23) decomposition process of the attitude angle model using the
kp inverse kinematics algorithm, Fig.5 gives the structure
diagram of the angle loop after decomposition.
Similarly, it is possible to:

 1
vq
= (cq eq + p c + ε q sgn( sq ) + ksq sq )
 kq
 (24)
= 1
v (cr er + p c + ε r sgn( sr ) + ksr sr )
 r kr Fig.5. Angle inverse kinematics loop system structure diagram

Among them, the reference input of the pitch angular After decomposition, each channel becomes a simple
integral structure[13].
velocity is qc , e=
q qc − q , the reference input of the yaw
After using the inverse kinematics method, the new
angular velocity is rc , and the constant parameters of the attitude angle model and the angular velocity model have the
corresponding controller are cq , ε q , ksq , cr , ε r , ksr [11], same structure, so it is no longer repeated here. The control
law of each channel of the attitude angle is given directly
where er= rc − r ,=sq cq eq dt + eq∫ , below:

=sr cr ∫ er dt + er .
2) Attitude angle model decoupling and control

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 also has good scalability. The main purpose of this
 1 experimental simulation is to verify the linear flight
= vφ (cφ eφ + φc + ε φ sgn( sφ ) + ksφ sφ )
 kφ performance and attitude controller of the quadcopter
 unmanned aerial vehicle.
1
= vθ (cθ eθ + θc + εθ sgn( sθ ) + ksθ sθ ) (30) The specific simulation parameters for this simulation
 kθ
experiment are as follows: constant drift of gyroscope:
 1
=vψ (cψ eψ +ψ c + εψ sgn( sψ ) + ksψ sψ ) 0.0349rad/s, zero drift: 0.003878rad/s, zero drift of
 kψ accelerometer: 0.007m/s ², Constant drift: 0.016m/s ²,
Accuracy of magnetometer: 1 °, accuracy of Acronyms and
The reference inputs corresponding to the attitude angle abbreviations in avionics: 10cm.
are φc , φc and ψ c , respectively. The output errors of the roll B. Simulation Experiment of Aircraft Control System
angle, pitch angle and yaw angle are eφ , eθ and eψ , 1) Attitude controller simulation experiment
The corresponding parameters of the controller were
respectively[14]. The constant parameters of the
debugged in this simulation experiment, and simulation
corresponding controller are cφ , ε φ , k sφ , cθ , ε θ , k sθ , cψ , analysis was conducted using the Matlab toolbox. Finally, the
designed controller was loaded onto the experimental
=
and k sψ , where sφ cφ ∫ eφ dt +=
e , sψ cψ ∫ eψ dt + e , platform for actual testing, verifying the effectiveness of the
φ ψ
attitude controller designed in this article. According to Fig.6
=sθ cθ ∫ eθ dt + e . and Fig.7, there is significant vibration in the response curve,
θ
which is caused by the rotation of the propeller during the
IV. FLIGHT CONTROL SYSTEM SIMULATION EXPERIMENT actual measurement process. The control result error is
around 4 °, and it takes about 6 seconds for the cascade PID
A. Experimental simulation environment attitude controller to complete angle tracking. In contrast, the
In the simulation experiment of this flight system, a self- multi-mode PID controller designed in this article reduces the
developed Matlab quadcopter unmanned aerial vehicle required response time to around 4 seconds while ensuring
simulation toolbox with functions such as flight attitude angle control accuracy of around 4 °, resulting in better dynamic
control and autonomous fixed-point flight was used, which performance of the system.

Fig.6. Attitude Response Curve of Cascade PID Controller

Fig.7. Attitude Response Curve of Multimode PID Controller

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 2) Linear Flight Simulation Experiment dynamic model (and hardware) of the quadcopter drone, the
This linear flight simulation experiment was conducted control algorithm of the quadcopter drone, and flight system
using the Matlab toolbox to verify the dynamic flight simulation experiments. The hardware design and control
performance of the controller designed in the article. Set the algorithm design of the quadcopter drone are studied, and the
flight state of the aircraft to forward flight (north direction), following results are obtained:
and the power supply voltage of its motor is at a stable level. (1) In this paper, by studying the composition of the four
The starting coordinates are (0, 0, -10), and the flight rotor UAV and analyzing its flight principle, the navigation
trajectory is shown in Fig.8, with a flight time of 120 seconds. coordinate system and the airframe coordinate system are
established, and the transformation matrix of the two
coordinate systems is given to describe the flight of the four
rotor UAV. Through a series of reasonable assumptions and
Classical mechanics principles, the successful establishment
of nonlinear dynamic equations provides a research basis for
the design of the controller.
(2) Successfully designed an attitude loop controller using
feedforward PID control algorithm, solving the robustness
problem of traditional PID algorithm in the control of
quadcopter unmanned aerial vehicles. More accurate real-
time information has been successfully provided for the flight
control system of quadcopter unmanned aerial vehicles.
(3) After successfully designing various controllers, they
were verified through Matlab simulation and then
summarized in the flight system, ensuring the effectiveness
Fig.8. 3D trajectory diagram of forward flight simulation and stability of the designed control algorithm.

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