Design For Quadrotor UAV Flight Control System

Quadrotor UAV is a new model of small aircraft that could take off and land vertically. It adjusts its position and attitude by varying four symmetrical propellers’ speeds, with merits such as hovering ability, good maneuverability, and simplified structure. The research of the Quadrotor UAV has a very far-reaching significance, whether from the point of view of national defense strategy, or from a civilian.In this paper, the Quadrotor UAV spacecraft as the research object, First, introduces the Quadrotor UAV control system research of the basic concepts and basic knowledge. Followed mechanical analysis of the Quadrotor UAV,and establish its dynamics equation based on the actual structure,and get the system transfer function,and appropriate to simplify the transfer function for the system simulation model.Secondly, the paper designed main controller and ground control system for quadrotor based on the systematic and functional requirements. Constructed based on DSP is of high performance and small size of the flight control computer hardware platform; To design the flight control law based on the PID control strategy, to ensure that the control parameter adjustment is simple and convenient, conform to the requirements of the subject application.By the third, this report establishes control system structure of Quadrotor UAV, designs pose solver based on complementary filter, discusses problem about flight control of four-rotor aircraft and provides a control method of robust controller.For the next step for the computer simulation and the experimental flight ready.Fourth based on the Quadrotor UAV system simulation model,with the simulation in Matlab Simulink blocks,respectively PI Control algorithm,PID Control algorithm and Integral separation PID Control algorithm to point against the attitude loop and attitude-position loop respectively,verify the effectiveness of the control algorithm.Sub-sequent applications but also into the four rotor unmanned aircraft system for joint debugging of software and hardware system and flight tests for further examination.Lastly, after finishing former work and summary, this report provides suggestions and expectations about future work and development.