Research On Advanced Control Method And Realization Of Unmanned Quadrotor Helicopter

With unique mechanical structure, superior hovering and low-speed performance, unmannedquadrotors have guradully become a research focus in the field of UAVs, and play an important roleboth in military and civil areas for its profound application prospect. Taking a model aircraftquadrotor helicopter as the research object, aiming at the requirement of hovering, this thesis studiesthe modeling and controlling methods and designs DSP based flight control system of a microunmanned quadrotor helicopter.Firstly, this thesis analysises the aerodynamic characteristics and control principle of umannedquadrotors helicopter, and establishes its mathematical model. On this basis, the flight control lawbased on PID is designed. In order to futher improve the decopling performance and interferenceimmunity, this thesis designs control law based on integral backstepping and brain emotional learning,and verifies the effectiveness of the control law through the numerical simulation.Secondly, taking the mission requirements and the performance needs into consideration, thisthesis presents a hardware overall design scheme based on the DSP of the micro unmanned quadrotorhelicopter filght control system. We fucos on the design of the control module, power supply module,sensor module, wireless communication module and motor driving module and other circuitschematics, and then complete the PCB design and debugging.Thirdly, according to the proposed task requirements and the hardware scheme, the thesis putsforward the software overall scheme, completes the program design of the interface betweencontroller and sensor module, wireless communication module, receiver, motor driving module, andcompletes the general design of the flight control software after integrating these modules.Finally, this thesis integrates the flight control system hardware board and the flight controlsoftware, and completes the DSP control board performance test, each interface module test and flightcontrol software integration test. The tests results show that the flight control system includinghardware and software had high reliability and good real-time characteristics, having importantreference value to further engineering realization.