The Design And Experimental Study Of Quadrotor Unmanned Aerial Vehicle

Quadrotor UAV, which can vertically takeoff and land, is a novel-shaped vehicle withsuperior performance. It has simple structure, agile operation, and excellent load capacity. Soimportant value is granted on Quadrotor UAV in military and civil utilization. This paper willfirst summarize the current researching status, key technology and the future application ofQuadrotor UAV; and then establish the systematic dynamic model, define the systemconstitution and overall design plan according to the flight theory of the Quadrotor UAV.At first, we model the vehicle according to the design scheme, and choose a properBrushless DC Motor as the system power plant. secondly，the Brushless Motor driver, whichhas suitable power and fine linearity, is designed in order to fit the Quadrotor UAV with load.Thirdly, suitable microprocessors, sensors and related electronic components are chose todesign hardware circuit diagram, and at last finish the design of the hardware system afterconsiderable work on debugging the system hardware and software.Measurement of the flight movement and posture is realized by AHRS and themeasuring cell is made up of IMU and Three Axes Magnetic Sensor. According to the errormodel of sensor, we design EKF to achieve the optimal estimate of the flying gesture of thevehicle. Sequentially we obtain the information on the carrier’s attitude and course, which cansupply important feedback controlling parameters to make the vehicle fly steadily.For the Quadrotor UAV the premise of flying steadily is balance control, as this aircraftis the underactuated control system which has six degrees of freedom and only four controlvariables, so adjust the four motor speed to achieve stable flight, consequently, the balancecontrol is the key point of the flying of Quadrotor UAV. According to the system dynamicmodel, we designed the controlling principle for control system，which contained two controlloops: Posture control loop and Position control loop. we design control algorithm and buildthe simulation platform in Matlab for the vehicle. After validated in simulation, the controlalgorithm will be transplanted to processor of ARM for verifying, experiment research andoptimizing the parameters of flying control algorithm.At last we designed control system software program, which had good real-timeperformance, and executed the debugging work. Test and debugging process, which wascarried out to verify the effectiveness of responding algorithm, contained figure merging,balance, and robustness test. At last, we design a Quadrotor UAV which is full of certainquickness and robustness and can fly steadily with remote control.