Study On The Quadrotor Control System Based On Attitude Control

Quadrotor has been used in various fields as a new kind of aerial mobile platform, equipped with a variety of the corresponding task load, widely used in aerial video, power patrol line, intelligence, surveillance, battle damage assessment,because of vertical takeoff and landing(no landing site constraints), strong maneuverability, easy operation and so on. While its value is gradually highlight, quadrotor has been favored by a lot of developers. Quadrotor both fully autonomous flight or in remote control flight is inseparable from the flight control system. The pros and cons of the flight control system determines that the flight effect is good or bad. Therefore, flight control system research is the key of controlling the attitude of the quadrotor.This paper selects the cross type structure of quadrotor。In the conditions of regarding the structure as a rigid body, the quality of the body evenly distribution, regardless of the influence of air resistance, establish the mathematical model with Newton’s second law and the Euler’s formula, based on the aviation theory, theory of gas dynamics and modern control theory.And simplify the complicated mathematical model.The traditional PID algorithm and fuzzy PID algorithm are analyzed and compared in this paper. According to the specific rules of fuzzy control, the fuzzy PID controller is designed by the FIS editor in Matlab. The control strategy of the original quadrotor is optimized, and the optimization process is described clearly, and the advantages and disadvantages of the new strategy are analyzed.quadrotor flight control system software part uses modular design, which can simplify the complexity of the software design and be conducive to the latter part of the program debugging. The whole software includes: data acquisition module, central control module, motor control module, data communication module, data simulation module. Detail description of the function of each specific module and the description of its internal operation mechanism.Combined with a quadrotor mathematical model and optimization of control strategy, using the Simulink module of MATLAB, build the simulation diagram of flight control system based on the traditional PID controller, the simulation diagram of flight control system in the disturbance under the influence and the simulation diagram of flight control system based on the fuzzy PID controller. After all the simulation results are analyzed and compared,it was concluded that: optimized control strategy for quadrotor control system simplifies the whole process control, can still remain stable in a certain range of disturbance, and the fuzzy PID controller of the control effect is better than the traditional PID controller. Finally, use SimMechanics to simulate the quadrotor,and observe the effect of attitude control simulation.