Attitude Control System of Quadcopter Based on Four-Element Method-Double Layer PID Algorithm

In order to enhance the control stability and anti-interference ability of quadcopter, this paper presents a quadcopter based on double-layer PID control, designs with STM32 as main controller, simulates verifies its system attitude. Firstly, nonlinear attitude mathematical model aircraft is established by four-element method, relationship between angle angular velocity obtained solving, so that measurement data multi-attitude sensors four-axis can be better fused. Then, according deviation target current aircraft, method proposed traditional controller. The outer loop controls inner improve adaptability accuracy aircraft. At last, two controllers simulated compared Matlab simulation software. results show has slow response time, stabilization time 2.7s, while double fast 0.4 s, which good strong ability, improves adaptive robustness control.