| Small four rotor unmanned aerial vehicle(UAV) is a kind of miniature, good performance of VTOL(vertical take-off and landing) helicopters, it has many characteristics, such as low cost, small size, flexible, not easily damaged, high takeoff speed, low requirement to the landing site, simple maintenance, strong battery life and so on, and obvious advantages on execution of complete investigation report, aerial, search, rescue and relief, intelligence and other application aspects. Thus it has well application in the field of national defense, civil and commercial applications and has a good prospect for development. The study of its control methods will be one of the important embranchment of UAV in the world, which is of great significance.Based on small four rotor UAV as a platform, this paper, first of all, reviewed the study of four rotor UAV development, then introduced the mechanical structure and flight principle of the UAV, the modeling process of UAV system has realized in an ideal situation and the mathematical model simplified, state space models were simulated in MATLAB/Simulink to verify the accuracy of the models.In addition, this article selects the PID control, through comparing single, parallel PID, cascade PID controller, and proved that the design of the series on the performance of the PID controller has the obvious advantage, in order to strengthen the anti-interference ability of the system, the introduction of the EKF(extended kalman filtering) under the condition of the system and sensor noise to noise has a good inhibitory effect.Finally, the UAV system put forward the system design scheme, choose STM302f405 flight control board, has carried on the modular processing, control software structure is designed. As an open source project, hardware selection and software coding were conducted, the control algorithm involved in the process of debugging and aircraft flight performed well in the design of hardware and software, and met the requirements. |
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