Study On Building And Control Methods Of Control System For Quadrotor

Small quadrotor, an unmanned aerial vehicle who can achieve vertical take-off and landing (VTOL) by combined control of the four rotors, has many advantages such as simple body structure, easy to achieve hover, smooth and reliable, with large takeoff weight, simple manipulation, having broad application prospects in the investigation and detection fields. The research objects of this thesis is to describe flight attitude of the aircraft, create kinetic model, research on attitude estimation method and flight control algorithm, achieve stable hover and remote control using the self-made quadrotor as research platform.Firstly, this thesis describes and compares the research status and related technical of the quadrotor, summarizes advantages and disadvantages of the researches, then proposes the function and technical indicators of the self-made quadrotor. To design the mechanical platform and the control circuit meeting the technical requirements proved by experiment, choosing common engineering materials and electronic components according to prices and processing performance.Secondly, this thesis compares the common strapdown attitude representations, then chooses the direction cosine to describe attitudes of the quadrotor. A solver which can fuse data of gyroscope, acceleration sensor and compass and realize attitude estimation is designed based on complementary filter algorithm.Thirdly, the kinetic model with six degrees of freedom of the quadrotor is built using Newton-Euler equations after kinetic analysis, then a reliable controller which can achieve hover and remote operation of the quadrotor is designed based on PID technology.Finally, to carry out experiments on the solver and the controller, results show they can achieve accurate and real-time control for the quad-rotor and reach the research targets.