The Design And Implementation Of Attitude Control System For The Quadrotor Unmanned Aircraft

The Quadrotor Unmanned Aircraft has been widely used in many fields, such as modern military and intelligent machinery, which involves high precision and advanced technology, thus it has become a hot topic home and abroad. It is important and difficult to develop a Quadrotor Unmanned Aircraft with excellent dynamic performance, strong stability and capability to meet the needs of rapid response and high load. In this paper, the design and implementation of attitude control system started from two aspects, one is control algorithm, the other is hardware and software. The main work is as follows:1. The dynamic model and quasi-LPV model were established via Newton-Euler formulation. The flight principle was further analysed based on the specific structural features of Quadrotor Unmanned Aircraft. Both of them laid the foundation for the futher study of control algorithms.2. A method based on the PID to control the air attitude of Quadrotor Unmanned Aircraft was proposed. The simulation results indicated that the method could make fly stable with low error, achieve strong robustness and easy adjustability.The Sliding Mode Variable Structure Control theory was adopted to control the attitude of Quadrotor Unmanned Aircraft, the sliding mode controller was designed to ensure that the system state could be able to slide along the pre-set sliding surface. The test results showed that this algorithm could eliminate the steady state error, and effectively reduce the overshoot of each channel.A control algorithm which is based on the Recessive Generalized Predictive Control was proposed. The simulation data showed that the proposed control method could led the aircraft fly stable with short response time, and showed better dynamic performance.3. The experiment platform was designed and built with the STM32f106as the core controller. The hardware circuit and sub-modular software design were completed, and a lot of experiments were carried out. The results showed that each of the three systems is capable of attitude control, the actual flight performance could achieve the desired effect.According to the unique structural features of Quadrotor Unmanned Aircraft, three different control algorithms were applied to flying platform, and successfully controlled the attitude of the aircraft. The subject lays a solid foundation for further research on the control algorithm and practical application.