Research On Modeling And Flight Control Of Quadrotor

Mini quadrotor is a simple structure multi-rotor aircraft with vertical take-off and landing ability, which make it suitable for ground environment inspection and aerial photography in low altitude. It can be applied in both civil and military domain. Recent years, the research of quad-rotors has gradually become mature, and provide a excellent platform for Inertial navigation and intelligent control.Quadrotor also play an important role in many other field, such as multi-aircrafts coordinate operation, flight path setting and fix-point take-off and landing.This paper focuses on the flight control problem of mini quadrotors, and according to the flight principles and characteristics of quad-rotors, conduct research on hardware and control strategies. First, using modular design idea, build a quad-rotor experimental platform, including flight control module , motor driven module, navigation module. Then, according to its flight principle, establish mathematic model of the system using Newton second law and Eulerian equation. On these bases, classic PID algorithm is adopted to control the attitude and position of the quad-rotors. A PID based position controller is developed, in which, the inner loop is used to control the attitude, while outer loop controls position.Simulation results indicate that it is feasible to control the position and attitude of the quadrotor with PID algorithm. The research in this paper on hardware and control strategy of quad-rotors lay the ground work for the future research on self-control flight using GPS position control and vision system.