Simulation And Control Method Comparative Study Of Four-rotor Unmanned Helicopter

Unmanned helicopter, especially the four-rotor helicopter, has attracted the attentionand research of many colleges and universities for its more simple flight principle andstructure at home and abroad in recent years. As an essential skill, trajectory trackingcapability is judgment of the unmanned helicopter, and its control algorithms have alsobeen constantly enriched.A good control algorithm is undoubtedly the protection for unmanned helicopters tocomplete the task. However, we cannot use the actual unmanned helicopter to verify thealgorithm. For example, PID needs to adjust the parameters to achieve a better control.It could be fatal that using the PID parameters in a UAV without debugging itsparameters. Therefore, it is particularly important to build the UAV simulation platformfor simulation experiments.First, a modular of the various parts of the four-rotor helicopter on the basis ofanalysis of the actual four-rotor helicopter is given in this paper, and a four-rotorhelicopter simulation platform based on the related physical knowledge is created usingMATLAB/Simulink tools, which provides a verification platform for the study ofcontrol algorithms. Next, PID algorithm, backstepping algorithm and integralbackstepping algorithm are applied to the simulation platform, through the adjustmentof simulation parameters to optimize the control effect. Finally, we get the two cases ofthe experimental results of the four-rotor helicopter hovering and trajectory tracking asthis article experimental comparison items. Then a new control method combined withPID algorithm and integral backstepping algorithm is applied to the same simulationplatform in this paper to get the parameters optimized experimental results.Experimental results show the validity of the test platform, and the platform can beused for verification of control algorithms. Comparison with the experimental results ofthree previous comparison algorithm, the control method combined with PID algorithmand integral backstepping algorithm experimental results show that it combines theadvantages of both PID algorithm and integral backstepping algorithm effectively, and itis more ideal for the control effect of the four-rotor helicopter hovering trajectorytracking.