| Small four-rotor aircraft is a kind of equipment which is dri ven by four-rotor to realize the control of position and a tti tude, i t has a novelty and si mple structure and be easy to impl ement fixed- point hovering, heavy loading capacity, flexible ope r ati on, and has a broad appl ication prospect in the fie ld of investi gati on and detection a nd aerial-phot o. If the four-axis ai rcraft i s regarded as a platform, according to di fferent needs, it can complete differ ent task by choosing differe nt acc essories. It als o can be use d for s ur veil lance and reconnaissance, communications relay, el ect r onic jamming, at tack missions in the military,addi tiona l, it can be used for express de live r y, traffic monitoring, geological exploration,disaste r rescue and aerial photography becaus e of rapid development in the civil fields. It can be said that the four-rotor airc raft has shown a high research and commercial appl ications, has become the most promising and potential airc r aft.In this paper, through the establishment of small four-rotor aircraft dynamics, kinemat ics mathematical model, t he mathematical model is decomposed into four independent control channel, using fuzzy PID control te chnology to de sign t he stable and reliable controller, the feasibili ty of the control strat egy is validated by the simul ation analysis, and the cont rol strat egy is l oaded i nto the four-rotor air craft platform, fi nally rea liz es the four rotor aircraft flying stability hover a nd r emote cont rol.It focused on the r oll angle, pitc h a ngle, yaw angle and height control, as well as attitude cont rol of the spacecraft. Aircraft used ATme ga2560 as the control core, as well as used high precisi on barome ter, MS5611, t hree axis digital compass, HM C5883 L, integr ated MPU6050 six a xis motion pr ocessing pr ogram, it can achieve a aircraft in hover, and also can e nsure the sustained flight, flight attit ude stability a nd smooth fli ght. |
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