Design And Implementation Of The Quadrotor Flight Control System

Quadrotor is a multi-rotor unmanned aerial vehicle,which has the advantages of simple structures,flexible maneuverability and can take-off and landing in small space. It is very fit for performing reconnaissance task in the near-Earth environments such as indoor, urban environments or dangerous environments,having broad application prospect in military and civil fields. Quadrotor has been paid more and more attention and research.This thesis takes the quadrotor as the research object.Firstly,according to the structural features of the framework of the quadrotor, the quadrotor is divided into the flight control system, execution system and sensor system. Selecting the appropriate hardware according to the structure and characteristics of each system,then to build a suitable hardware platform of quadrotor.Then building inertial coordinate system and body coordinate system according to the structure and principle of flight of the quadrotor, the coordinate system conversion has been obtained combined with the relationship between the two coordinate system.The kinematics model and dynamics model of the quadrotor is established according to the Newton’s second law and the principle of moment balance, the model is simplified in the reasonable assumption.This thesis select the four element method for attitude calculation compares common Euler angle and direction cosine algorithm. Designing attitude solver of quadrotor by fusing data of the sensor based on complementary filter algorithm.Finally,establishing attitude control system, the height control system and acceleration control system by using the PID control algorithm according to the dynamics model of quadrotor.Then verifies the control system meet the design need through the simulation.