Control Algorithm Design And Study Of Quadrotor

Quadrotor is one of many type of Unmanned Aerial Vehicle that becoming popular and having much attentions from various group recently, especially the researchers and hobbies in aeromodeling. Several factors that contribute to its popularity are its reliability in maneuvering, its ability to be flown indoors, its small size, light weight, low power consumption, and fault-tolerance. However, stabilizing control and guidance of these vehicles is a difficult task because of the nonlinear dynamic behavior.This thesis introduces the research significance and background of the Quadrotor and gives the principle of the aircraft; lists the development of the Quadrotor approximately. Then the overseas and domestic research status of the Quadrotor including current research interests and some common control methods applied is analyzed and introduced in detailed. In order to make it fly in a certain space with desired speed and hover in a desired position, several attitude representation methods are analyzed and the suitable Euler Angles representations is chosen. Based on this a corresponding coordinate system is established and the Quadrotor system is modeled.The approximate linearization method is selected when the Quadrotor achieves the task that moving to a desired position from initial state. The system adopts linear control methods, including the PD control method, pole-placement method, Linear Quadratic Regulator after linearizatio. Several linear control methods applied in aircraft systems are compared through the Simulation and demonstrate the validity of the approximate linearization method. Finally, the PD control method is applied to the Quadrotor experiments.Double close-loops control system is adopted to control the Quadrotor system and realizes a constant speed. The two loops are inner angle loop and outer speed loop. The exact feedback linearization method is applied in the inner loop. The inner angle loop system, outer speed system and the whole system are simulated respectively and verified the stability and effectiveness.