Research On Control Algorithm Of Four Rotorcraft

Quadrotor is drived by four propellers,which could achieve vertical take-off andlanding.It has the advantages of simple structure,small volume and easy operation,which has avery broad application prospects.And the small quadrotors can be able to access smallspace,even human beings can’t reach,so it has more important value in military and civilvalue.Underactuated,strong coupling,nonlinear and multi variable is several characteristics ofquadrotor.It is precisely because of these characteristics,the quadrotor has the research value.This paper is mainly based on the current research and application of the quadrotor,toappear in the actual use of the quadrotor to carry on the analysis,found tha the performance ofthe aircraft controller directly affcets the accuracy of flight.In addition,the research content ofvehicle is involved in many disciplines such as computer,electronics,communication.So thisresearch has considerable value.This paper mainly studies the PID algorithm and the Backstepping algorithm for thecontrol of aircraft, and based on the characteristics of these two kinds of algorithm to putforward the corresponding improvement methods, the control effect is more accurate. In thispaper the main work and innovations are as follows:(1) According to the simulation results of the flight control system,which is based onPID control algorithm, to analyse the various parameters on the impact of flight controlsystem, an improved algorithm is proposed based on PID: base on the idea of fuzzy decisionmethod to set the weight of parameters of PID algorithm, the integral separation ideas toavoid adverse effects on the integral control, and to increase the effect of low pass filter toavoid noise of the input signal for the differential link, improvement the algorithm through theexperiment of MATLAB/Simulink platform to test, through the simulation of improved PIDalgorithm in the control effect is more accurate.(2) On the design of flight control system based on Backstepping algorithm, and thesimulation experiment. The parameters of the Backstepping algorithm for the system effect isnot clear, so the artificial together parameters may affect the control performance of thesystem, this paper proposes a particle swarm algorithm based on parameter optimizationmethod, the improved algorithm on again to simulate the system, the simulation can be seenthat the optimized system in the control accuracy, adjust the time are significantly better thanthe algorithm simulation.