Design Of Quadrotor Helicopter Hardware And Implementation Of Algorithms For Attitude Control And Cruise

In recent years, with the rapid development of electronic technology, micro-electro-mechanical and micro inertial navigation, the technique of unmanned air vehicle has developed quickly. The control system design of quadrotor helicopter is related to many different subjects, such as rigid body dynamics, automatic control, multi-sensor data fusion, electronic communication and so on. It has became a hotspot of research. Quadrotor helicopter has many advantages, such as low speed flight, fixed-point hover and flexible flight. Therefore, it has been widely used in military and civilian fields.The mechanical platform of the quadrotor helicopter is built. The circuit board is designed and made. It consists of the main control system and motor speed control system. According to the drive motor and the control system, we design the algorithms, which include the motor start up, commutation and posture control, cruise. And finally complete the purpose of design. The main work is as follows:1. The mechanical platform of quadrotor is made up. Circuit for control system is designed. Some sensors for chosen for detected environment. These sensors include three-axis accelerometer, three-axis gyroscope, barometer, magnetometer, GPS and wireless serial port.2. By analyzing the electromagnetic properties of brushless non-inductive DC motor, we design four circuits to control the motor speed. It implements with the motor starting and commutation algorithm. The circuits include:the motor driving bridge with six arms, MOS tube conduction detection, voltage detection of motor phase line and midpoint voltage detection.3. Quaternion method which based on the complementary filter is used to calculate attitude. In order to control the quadrotor’s posture and cruise, design the PID control algorithm and cruise control algorithm. The PID control algorithm includes the single loop PID and cascade PID. In the cascade PID, outer loop uses angle PI, inner loop uses angular velocity PID. Eventually it is realized that the control of quadrotor posture and cruise after setting the parameter.During testing, some problems are solved, which include of preprocessing the date of sensor, removing the interference data, optimizing the control cycle and adjusting the PID parameters. To remove the attitude interference under the high speed motor, the sliding filter and kalman filter is used sequentially. This method achieves a better effect.The test shows that the quadrotor helicopter attitude and cruise fight could be controlled steadily.