Research On Modeling And Control Method Of Four Rotorcraft

Quadrotor is a symmetry structure aerocraft which can achieve vertical take-off and landing, forward and sideward flight. It can perform aerial photography, data transmission and low altitude flight tasks which has important application value in various fields. Meanwhile, quadrotor has strong coupling, under-actuated and nonlinear characteristics that present modeling and controller design with certain challenges. This paper mainly studiesPID, stability augmentation integrator backstepping and Sliding mode inverse controller on the basis of the mathematical model of the Quadrotor.the dynamic model is established according to the flight principle of quadrotor and PID controller is designed based on the dynamic model. PID controller is simulated by MATLAB/Simulink. The simulation experiment shows that PID controller can effectively control displacement and attitude angle of the quadrotor, however, it has poor robustness and dynamic performance. The stability augmentation integrator backstepping controller is designed in order to make up for these shortcomings. In different situations, judge whether to cut into the integration, so that improve the dynamic performance and robustness. Simulation experiments show that the controller is better than PID controller in the terms of system dynamic performance and robustness, but improvement is small. Under the condition of strong interference signal, PID controller and stability augmentation integrator backstepping controller cannot effectively control displacement and attitude angle of the quadrotor Sliding mode inverse controller is designed to improve robustness. The whole control system is divided into angular velocity, attitude angle and displacement control system,every control system adopts sliding mode inverse controller. The simulation results show that the anti-interference of the controller is significantly improved compared with the stability augmentation integrator backstepping controller.