Design And Implementation Of Control System For A Quadrotor Uav

Quad-rotor unmanned aerial vehicle is a kind of multi-rotor type aircraft, which has a good performance on the mission of hovering, vertical take-off and landing, flying with low speed and flying in formation compared with the orthodox fixed wing airvehicle. In recent few years, the quadrotor UAV has been wildly used due to its applications in road-cruise, unmanned inspection, disaster monitoring, forest fireproofing, aerial photography, and becomes a hot research object. However, quad-rotor aircraft is a typical underractuated system, nonlinear and strong coupling, and it is difficult to use high-precision and high precision navigation systems due to its limitation of carrying capacity, which makes control technology of this aircraft becomes an important research direction of the field. The main work and contributions are as follows:First of all, we obtain the rotation transformation matrix between the body coordinate and the ground coordinate via analyzing the structure characteristics of the four rotor aircraft and establishing its attitude reference coordinate. According to the characteristics of flight mechanics, dynamics model and kinematics model are established.Secondly, the ARM chip STM32F407VGT6 is regarded as the control core, and the inertial measurement unit is used to design the hardware circuit for each module of aircraft control system as soon as complete the PCB drawing. Software implementation, the quaternion method is introduced to achieve the vehicle attitude angle calculating and write the driver code.Finally, the double closed loop cascade PID control law is design to implement the stability control of the spacecraft attitude loop, and the MATLAB is used to achieve the real-time simulation of the flight data. At the same time, we complete flying outdoor test for the four rotor aircraft, the results show that the quaternion method can satisfy the real-time decoding requirements, and the design of the cascade PID control algorithm can finish the stabled flight control for the aircraft.