Research On Quad-rotor Unmanned Helicopter Control System

Because of the easy control and broad prospect in military and civil, the Quad-rotorunmanned helicopter had attracted more and more attention by the researchers. The flightcontrol system based on LADRC is designed. The core of control algorithm of system is DSP.The design of whole system is related to Computer technology, system modeling andidentification, nonlinear control technology, sensor technology and many other aspects of thecontent.Firstly，several basic flight motion modes of Quad-rotor unmanned helicopter areanalyzed , the aerodynamics of rotor is studied , rotor lift mechanics equation is establishedand six degrees of freedom dynamic equation is derived for nonlinear and strong coupling ofunmanned helicopter system.Secondly, dynamics model of unmanned helicopter is simplified through the reasonableassumption and the LADRC controller is designed. Through the simulation, the feature ofLADRC controller are studied and analyzed. The effective and robust of LADRC areanalyzed aiming at two independent flight target.Then，the overall structure of unmanned helicopter are planed and main modules of it areselected including central controller and a variety of sensor. The hardware principle diagramare given including the minimum system of DSP, a power supply t, a wireless communication,a motor driving and measuring.Finally，system software construction is elaborated. On the basis of this, the mainprogram, data acquisition module, wireless communication module and a motor drivingmodule are analyzed and designed using modular design method and the flow chart ofprogram design is given.