Research On Control System Of Quad-Rotor Aircraft

Quad-rotor aircraft belongs to multi-rotors'and unmanned helicopter. Although the characteristics of the aircraft were nonlinear and coupling, it can take off and land vertically with mobile flexible features. It got widespread concern of the society in recent years.The attitude of Quad-rotor aircraft is controlled by adjusting the speed of the four rotor motor, in order to get different force. Firstly, this article determine the system's overall design scheme, combining the principle of aircraft flight, the system model is analyzed; Secondly, the general design scheme of system was determined. The ADXRS300 gyroscope was selected as angular rate detection sensor. The brushless DC motor got phase conversion in the condition of none position sensor.According to the tests, the parameter calibrationof the motor was got. The dynamic model of aircraft was obtained based on the dynamic analysis of Quad-rotor aircraft system and took it as the simulation model of the control system. In this paper, the hardware design of motor drive system is described. Combined with the motor operating principle and back-EMF zero-crossing detection method, the software program of drive system is designed. And the principle of PWM speed control also was adopted to realize the motor starting, speeding up and running as well as the speed adjustment successfully.Quad-rotor has the characteristics such as nonlinear, underactuated, coupling and so on, the paper finally research control algorithm for the Quad-rotor aircraft system simulation model. Considering the nonlinear model of the system, PI control, fuzzy-PI control and fuzzy self-adaptive PI control are used, then analyze the simulation results of the system.Finally, complete the hardware design of the experiment system, the entire experimental apparatus was installed. Designing classic controller based on the Quad-rotor aircraft, applied to the debugged system, aircraft flight test achieves a vertical takeoff and landing campaign.