Design Of A Miniature Four-rotor Aircraft Test-bench

For the reason of small size, simple structure, flexible flight, The four-rotor suitablefor operating in complex environments, and can execute surveillance task on the closerground, suitable for military and civilian use. Because of it unique structure and dynamiccharacteristics, it has a high request of data achievement and processing and controlalgorithm, and becoming a research hot pot. This thesis aims at creating a test-bench offour-rotor, to do the research of data fusion and control, and apply it to application.This thesis first introduces the basic principles of flight of the four-rotor helicopter,gives the overall design of the framework, then according to the structural characteristics,designed the attitude detection, flight control, brushless motor driver and wirelesscommunication modules base on the DSP, and integrate them together, completed systemhardware design. Subsequently this thesis use the quaternion method to the measurementdata of the attitude solution, and apply a compensatory filter to the measurement to get thegood flight attitude and translate it to the computer, proved the feasibility of designation ofthe test-bench.At last, this thesis modeling the system based on the hardware, and gives a simplifiedmathematical model, using the PID control algorithm to get a feasible simulate result, thengives a introduction of the computer software, this thesis preliminarily accomplished theestablish of four-rotor test-bench, made a fundamental contribution to the follow-up studyof the system.