Design Of Four Rotorcraft Based On Fuzzy PID Control

For the reason that all the advantages of quad-rotor UAV, such as its relatively low cost and highly intelligent development, leading to the amount of attention and the use in society much higher than before. Although today’s aircraft have been developed a lot of extra features, the attitude stability of the aircraft is still an important research topic Flight Controller that is a major factor of basic security vehicles. The design is on the basis of existing research results, it studies improvement and tests experiment, the main work has done as follows:Complementary filtering algorithm to filter noise attitude angle: Based on the attitude and principles sins, it had gain the vehicle attitude angle and attitude matrix to supply theoretical premise for the subsequent calculation of attitude. In order to weaken the value of the sensor output noise, the use of complementary filtering algorithm which filtered out noise in order to weaken the influence of sensors. The output value which was obtained was more reliable, thus it improved the accuracy of attitude solution, and finally verified the feasibility of the algorithm. As a result, the error of the waveform belonging to the complementary filer algorithm is minimum, comparing with the current aircraft which is stable. After all, it has proved that the algorithm has corrective, the calculated attitude angle is reliable as the input.Fuzzy PID of the angle control: The traditional PID control algorithm for the stability of the aircraft attitude angle has deep defects to cause the crash. The design compared the fuzzy PID and classic PID, After analyzing the result of simulation, the stability of fuzzy PID is much better that in classic PID.Aircraft experiment: built an experimental platform to verify that the design of the two algorithms can truly control stability of the aircraft attitude. Firstly, made a explanation for the hardware module and function, the design of software provided the flow chart of driven system, the flow chart of control system and flow chart of sensors data collection which was main step of complementary algorithm. After analyzing the wave graph on the computer which was used for recording the data, it indicated that algorithm possessed good quality to control the attitude of aircraft.