The Four Rotor Aircraft Flight Control System Based On Speed Control Research

In recent years, people fully realize the role of the unmanned aerial vehicle,the world developing unmanned aerial vehicle industry, unmanned aerial vehicle is becoming a hot spot of research. Unmanned aerial vehicle divided into two categories:fixed wing and rotary. Rotor compared with fixed wings to hover, can be used for aerial,monitoring, etc. Four rotor has the characteristics of simple structure, convenient operation, and become the research hot rotor unmanned aerial vehicle. For no driver uav flight control system is that the drivers, the aircraft flight activities plays a vital role.In view of the above reasons, this article from the title, self-built four rotor unmanned aerial vehicle The four rotor unmanned aerial vehicle flight control algorithm is studied.This paper studies the main content:1.For unmanned aerial vehicle were summarized: the paper introduces the characteristics of unmanned aerial vehicle, expounds the development process of flight control system, lists several common flight control system, combining with research situation at home and abroad on the basis of introduced several kinds of typical high-performance unmanned aerial vehicle.2.Four rotor mathematical model is established to research: this paper introduces the mechanical structure and four rotor flight principle, set the two commonly used coordinate system, analyze the force of the body, solving the dynamic equation of the model; In a given aircraft on the basis of linear velocity and angular velocity equation solution of kinematics equation, from two aspects of dynamics and kinematics modeling of a four rotor, finally combined with the actual situation of the four rotor aircraft flight,to simplify the nonlinear equations of four rotor aircraft.3.Introduces the PID controller is designed based on the quaternion method and the theory of knowledge, expounds the principle of two kinds of control method from the aspects of theory, and related parameters setting and solving method is presented.4.Using MATLAB platform to PID and simulation algorithm based on quaternion method, and the simulation results of two methods were compared.This paper innovation points: in this paper, the PID control based on quaternion and two methods for the design of the control law.This paper established the mathematical model of the system, design the flight control algorithm, providing theoretical basis for the study of the four rotor aircraft.The simulation results show that the control law is designed in this article toeffective control of the speed of the four rotor aircraft, especially when the speed is bigger, based on the quaternion method compared with PID control has better control effect.