Design And Research For Flight Control Algorithm Of Small Four-rotor Flight Control System

Four rotor flight control system is a kind of system of nonlinear, under actuated and strong coupling, it is an ideal platform to verify all kinds of control algorithm, controlling of the four rotor flight control system has been a difficult problem. The research object is four rotor aircraft which made up in our laboratory. We mainly study the inversion control method and improve the inversion control method aiming at its shortcomings. To explore new control strategy, We design controller based on integral inversion control algorithm.The main work of this paper and innovations are summarized as follows:(1) We design the overall scheme of four rotor aircraft system and set up test platform of four rotor aircraft system which include selection of components, design of system software, determine the parameters for the design of the controller by a large number of debugging.(2) We analyze the basic flight principle of four rotor aircraft and establish the mathematical model of four rotor aircraft.(3) For the control of attitude and position of aircraft, the controller based on PID control algorithm is designed, and tested on the four rotor aircraft platform. The results of path tracking experiments show that the design of controller based on PID control algorithm is valid for flight control system.(4) As the stability and dynamic performance of the controller based on PID control algorithm need to be improved in the actual flight, We design the controller based on inverse control algorithm and integral inverse control algorithm in this paper. Respectively, for tracking the path of the aircraft position, simulation and experiments are done. The results show that, for improving the dynamics and stability of the vehicle, the inversion integral controller is better than the inversion controller, the inversion controller is better than the PID controller.