Study On Control Method For Quadrotor UAV Load Control System

Small Quadrotor UAV aircraft is a kind of two aircraft which propellers are vertical distribution consisting of four different speeds through the rotor so as to change its lift.The aircraft can fly in six directions around, flying up and down effect.As compared to fixed-wing aircraft, Quadrotor have small, portable features which can complete hover, circle and other complex missions, so in recent years, research scholars at home and abroad are working on four-rotor aircraft, although research scholars have made many breakthroughs, there are still many difficulties yet to be resolved.In this paper, the research work is focused on the difficult problems of a number of the more prominent four-rotor aircraft which is flying smoothly under load study.Firstly,the paper introduces the development history of four-rotor aircraft, the study of this subject in recent years and the results achieved in related fields at home and abroad. The model and math model of the four-rotor aircraft is modeled and analyzed with the mathematical.Classic PID control and RBF neural network tuning PID control and cascade PID control are chosen as the control method for the four rotor aircraft system control method effect of contrast.In terms of comparative test results,according to the established model and the combination of these three control methods with Matlab/Simulink simulation and the corresponding simulation results.The results were analyzed, the final choice is Cascade PID control as in-kind flight the control algorithm.Secondly, in order to carry out the kind of experiment, four-rotor aircraft experimental platform is build.It mainly consists of motor, ESC, propeller, flight control panel and a remote controller and other components, measured by the accelerometer module, electronic compass, gyroscope, electronic compass, barometer,and other sensors, through mutual cooperation of each module. So that the experiment can be more accurate results.Finally, this paper based on the above analysis of the experimental four-rotor aircraft is hovering flight test of physical load, using the remote control based on classic PID and cascade PID control four-rotor test. The final test showed that four rotor craft can hang beneath a load with harsh experimental conditions.The effect of flight Cascade PID control is excellent.