The Design And Implementation Of An Autonomous Flight Four Rotor System

When the disasters explosion accident happened in coal mine, explosion accidents mayhappen again. environment exists high risk. Exploration of the unknown dangerous problemsencountered in mine rescue, the design and Realization of autonomous flight four rotorsystem, in order to improve the effectiveness of rescue. Autonomous Flight four rotorstructure is symmetrical, has many potential advantages in handling and mechanical aspects.Therefore, the design of the four rotor flight to detect the underground environmentconveniently and effectively in a coal mine.The mini autonomous flight of four rotor helicopter, use AVR microcontroller as the core,and design the autonomous flight of four rotor helicopter controller hardware and softwarecontrol system, to achieve a smooth flight. Firstly, the control system structure, hardware andsoftware of the overall are designed in according to the goal of design.According to thefunctions the control system is divided into six module: the power supply module, the maincontroller module, electrically adjustable propulsion module, sensor module, state informationtransmission module and remote control module. And the each modules of the hardwarecircuit is designed and the PCB board is printed, the each module software of four rotoraircraft is further designed in this paper.This paper design strapdown inertial navigation system based on four element method.In order to overcome the gyro sensor drift in inertial navigation, this paper presents fusion ofthe gyro sensor and three axis accelerometer, making angle value of four-rotor flight status bemore ideal in the flight control system. Attitude control is the core problem of flight control,unmanned four rotor helicopter structure specificity determines controller’s particularity:autonomous flight controller design of four rotor helicopter is realized on six controllingvariables are controlled via the four propellers, visible is an underactuated system. This paperdesign PID controller to control attitude. Experimental results show that the system of flightusing PID controller can get good attitude control effect, verify the stable flight of controlsystem.At the same time,it is very important for the analysis of aircraft research to get the flight control and flight state data in flight test process.this paper has designed and developed fourrotor flight state acquisition board software and hardware system, the four rotor aircraft flightstate data can be real-time obtained, stored,analysed, and lay the foundation for the tworesearch and development of four rotor flight control of aircraft.