| The four-rotor aircraft is widely used in military field and commercial field with simple structure, flexible operation, taking off or landing vertically and autonomously. A new four-rotor aircraft attitude control system is designed in this paper to solve the problem of poor anti-jam capability and low reliability. The new system can detect the real-time state of the four-rotor air craft by inertial sensors. It also can calculate the position of the attitude solution of the four-rotor aircraft by multi-source information fusion technology and gesture detection controller. Then the attitude system can be controlled by actuating device.Firstly, the research status and development trend of the attitude control system of the four-rotor aircraft are analysised. And an overall design of attitude control system of the four-rotor aircraft is proposed based on the structural features, operating principles and design requirements. That overall design provides the fundamental foundation for hardware design and software design.Secondly, the hardware design and the software design of the attitude control system are completed by modular design method. The sensor detection circuit,power circuit and motor drive circuit are accomplished in hardware design. And the main program, sensor detection program and motor control program are finished in software design.Thirdly, the kinetic model of four-rotor aircraft is built based on Newton-Euler approach, and it is linearized by the small disturbance hypothetical. Then genetic algorithm PID is applied in Matlab with Kalman filtering algorithm to optimize the control strategy of the attitude control system in simulation.Finally, a prototype of four-rotor aircraft is tested for hovering to verify the effectiveness and feasibility of the design scheme and control strategy. It is showed that the four-rotor aircraft operates a smooth flight with high reliability and strong anti-jam capability. Figures(46), tables(6), references(67)... |
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