Research On The Control System Of Quadrotor UAV

The quadrotor UAV is a kind of Vertical Take-Off and Landing UAV. Comparing with atraditional fixed-wing, the quadrotor UAV has many irreplaceable advantages, such ashovering, vertical take-off and landing, flying with low speed and flying indoor. For the pastfew years, the quadrotor UAV attracts much attention due to its applications in road-cruise,unmanned inspection, traffic monitoring, forest fireproofing, aerial photography, and becomesa hot research object.This thesis is about modeling, design, control and navigation of the quadrotor UAV. Themain work and contributions are as follows:1. Modeling and dynamic analysis of the quadrotor UAV. An accurate simulation modelwas developed in successive steps. In this paper, the attitude matrix was builded. From thismatrix, Getting the movement model of aircraft in the geographic coordinatesystem.Analyzing the basic law of the motion model for the quad-rotor aircraft andsimulating the motion model of this aircraft in MATLAB. Then, the basis for flight controlsystem designning can be provided.2. System design and implementation of the quadrotor UAV. Based on the Modeling anddynamic analysis, a test-bench system of the quadrotor UAV was designed based on anembedded system of FPGA/DSP. Due to the requirements of quadrotor UAV on attitude andposition, an aircraft navigation system was designed based on an embedded system of ARM7microcontroller and the sensors of MEMS gyros, accelerators and magnetic. A type ofBLDCM is chosen as the executive element. The back-EMF zero-crossing detection principleis used to detect the position of the rotor in real-time. A control program of the motor systemis designed as well. Finished the design of the hardware system after considerable work ondebugging the system hardware and software.3. Controller design of the quadrotor UAV. An important part of this thesis was dedicatedto finding a good control approach for quadrotor UAV. Two techniques were explored fromtheoretical development to final experiments. Firstly, a Proportional Integral Derivative(PID)was investigated based on a simplified model. Secondly, backstepping techniques weredeveloped and simulated.4. Research on the strapdown navigation of quadrotor UAV.Simulated the strapdownalgorithm using simulated data. Combined with the accuracies of the MEMS inertial devices,specified the extend Kalman algorithm, and designed EKF to estimate attitude and position information. Through the simulation using actual sampling data, the attitude error is±0.5°, thespeed error is±0.2m/s and the position error is-7m. It’s the guidance for actual embeddedsoftware design.5. Ground control system design and experiments of the quadrotor UAV. A groundcontrol system for quadrotor UAV was designed based on WPF. Designed the experiments ofthe quadrotor UAV, analysed the results, and proposed recommendations for improvement ofthe system.