Research On A Fuzzy PID Control Algorithm For Quardrotro Helicopter

Four-rotor aircraft, a vehicle which is driven by four propellers located in the top of the cross, has the vertical take-off and landing flight characteristic with any navigation. Also the flight attitude was completely controlled by four propeller, so compared with fixed-wing aircraft it has many characteristics, such as sensitive action and easier to implement. Four-rotor aircraft also has many characteristics: under actuated, multivariable, strongly coupled, nonlinear, uncertain constant parameters, uncertain flight environment etc. Its research covers variety of interdisciplinary, such as structural, machinery manufacturing, materials engineering, physical mechanics, pneumatics, inertial navigation and guidance, sensor technology, energy technology, remote sensing technology, radio engineering, Micro-electro-mechanical Integration Technology and so on. So four-rotor aircraft attracted great attention among national related research institutions in recent years.This paper according to the four-rotor aircraft as the research object, deeply invest the research status of the four-rotor aircraft, comprehensively expounding the development history, application area and key technology of the four-rotor aircraft. In addition, I take the physical platform as the real research object to research the mathematical modeling and control algorithm of the four-rotor aircraft.Firstly, I design the physical structure of the four-rotor aircraft based on operability and cost performance, build physical platform with hardware facilities and sensor circuit. The test results shows that this physical platform meet the demand of four-rotor aircraft characteristic research.Secondly, I deal with the data of the attitude sensor and analysis the characteristic of Kalman filter algorithm and complementary filter algorithm, then I choose complementary filter to fuse the data of gyroscope and acceleration sensor. At last, it realizes attitude estimation ultimately.Finally, I creatively come up with the fuzzy PID control algorithm for the problem of attitude stability control of the four-rotor aircraft at present. I use the Fuzzy Logic Toolbox of MATLAB software to design fuzzy PID control algorithm for attitude stability control of the four-rotor aircraft. I design simulation experiment in the MATLAB environment and verify the effect on the real physical platform. The result shows that, this kind of control algorithm can control the four-rotor aircraft accurately and rapidly, which achieves the research goals.