The Design And Implementation Of Quad-rotor UAV Controller

Quad-rotor unmanned aerial vehicle is a four-propeller-driven aircraft which can take off and land vertically. By around, about two groups of rotors are composed, when revolving the direction is opposite. Therefore, the main difference to general helicopter is that Quad-rotor UAV do not need tail propeller to balance the body. Particularly suitable for implementing surveillance and reconnaissance tasks in the near-surface environment, and it has broad prospects for military and civilian. According to the four rotor aircraft which focused on light weight, small size, low power consumption and high performance features, we propose a flight control system that based on digital.First of all, Surrounds the problem of Quad-Rotor UAV’s autonomous flight control, with the controls remotely model ship Draganflyer Helicopter V Ti as the flying platform, We have carried on the analysis to four rotorcraft dynamics and the kinematics characteristic, And use it as the theoretical basis, I obtained its six flight state of motion control methods.Secondly, based on the thought of the modular design, the flight control system is designed and developed, which takes the C8051F040high performance monolithic integrated circuit as the core controller, which includes flight control computers, four rotor motor drive controller, wireless communication subsystem, the sensor subsystem, and CAN bus communication subsystem. In this paper, we have given detailed explanation to the design concept and principle of work for each subsystem, meanwhile has carried on the software design according to the hardware schematic diagram and the system actual demand and has done a lot of hardware and software debugging work, basically solved the design problem.Finally, in order to achieve the remote control and autonomous flight control goal, in this system, firstly I have designed serial port communication protocol between ground control station and on-board computer, which take the wireless correspondence as the platform, and completedly the ground control station to the aircraft’s remote control. Secondly, based on CAN-bus communication technology and multi-agent technology, I have designed information format that exchange between agents. Has completed the central master control regulator and the rotor controller as well as between the rotor controller broadcast correspondence and the point-to-point communication. At last I studied the independent flight control scheme of the Quad-Rotor UAV control system, proposed the control strategy that based on the multiagent cooperation, and initially realized the simple movement posture control. But also lay a foundation to perform more complex tasks for the future, such as fixed-point flight, obstacle avoidance and coordination of multi-machine flight and so on.