Research On Dynamic Modeling And Control Technology Of Four - Rotor Unmanned Aerial Vehicle

Quad-rotor UAV is a novel appearance, high performance rotor craft with significant military and civilian value, which attracts wide attention of many researchers domestic and overseas. With the characteristics of nonlinear, strong coupling and susceptible to outside interference, the quad-rotor UAV makes the aircraft control system design difficult. This paper focuses on a series of studies of the dynamic model, control scheme design, and hardware and software system design of quad-rotor UAV.Firstly, the paper specifically analyzed the rotor aerodynamics and dynamic moment of the whole aircraft based on the analysis of the aircraft configuration and flight principle. Then it finished detailed derivation and establishment of the complete six degrees of freedom nonlinear mathematical model of the aircraft, and demonstrated the non-linear and strong coupling characteristics of the aircraft movement. The thesis simultaneously simplified the kinetic model on small angular movement of aircraft, and identified the unknown parameters in the model by means of experimental tests and establishment of the three-dimensional model, which lay the foundation of control scheme design for the next step.Secondly, the paper had designed control solution of the aircraft on the basis of dynamic model and classic PID algorithm. Since the linear movement of aircraft model was affected by the small angular movement, this thesis had designed the position control loop and the attitude control loop which effectively solved the problem of motion coupling.Finally, this thesis divided the hardware and software system of aircraft into various functional sub-modules on the foundation of flight control scheme with modular design method. And it completed the design of complementary fusion filtering algorithm, and further calculated the high-precision attitude angles, by the combination of different characteristics of the sensors. In the flight experiments, the aircraft accomplished the autonomous flight mission of trajectory tracking and hovering steadily, which demonstrated the validity of dynamics model and control scheme of this article.