Design And Implementation Of Four-rotor Aircraft Controller

Four-rotor aircraft is VTOL UAV with four rotors, compared with thesingle-rotor aircraft, four-rotor aircraft has much smaller propellers. Because of theadvantages that it requires less space for takeoff and landing, a strong ability tomaintain a good posture and handing in obstacle-intensive environments, smallfour-rotor aircraft is ideal for shooting, relief work in the complex environmentssuch as indoors, forests, streets and inclement weather. It has great value in terms ofmilitary and civilian.In this paper, I design a controller for four-rotor UAV, the controller usedTMS320F28335as the core of it and realized the attitude control of the four-rotoraircraft in the near-Earth environment. The entire control system can be divided intothe body platform, power module, controller module, sensor module,communication module by function. The controller’s software and hardware designincluding component selection, schematic design, the modular software design.According to multi-sensor fusion filtering systems theory, this article designed ainertial navigation system based on the complementary filter, this system can fusionthe four-rotor aircraft attitude data in order to control the four-rotor aircraft attitude;Design electronic governor to control the motors, the controlled volume offour-rotor aircraft is the speed of the four propeller which determined the attitude ofthe four-rotor, so the electrical governor is a very important part of the four-rotoraircraft hardware platform, and it’s also a major difficulty; The control algorithm isusing PID algorithm, it is a basic control of industrial automatic control system, ithas a long history, strongest vitality and is the most widely applied. it is veryconvenient to use, has a strong adaptability and robustness, and the control principleis very simple.The fact shows that the controller has a good effect on the attitude control of the four-rotor aircraft, which confirming the effectiveness of the control system.