The Design And Research Of Quadrotor Based On NI MyRIO

Quad-rotor, as a unique UAV(Unmanned Aerial Vehicle) which achieved VTOL(vertical takes-off and landing), has a wide range of applications on military and civilian areas such as, the mission of terrain reconnaissance, the assistance of medical treatment and rescue as well as looking for disaster sources,etc. However, the research and development of quad-rotors are usually complicated and difficult and even costly, therefore most projects related to it are regularly launch in some military and universities. In this context, the research of quad-rotor was our subject matter, and our work mainly discussed around two key issues, data fusion based on Kalman filter and flight control.According to the design scheme of hardware system, we selected the NI myRIO-1900 developed by NI as main controller which integrated a dual-core ARM Cortex-A9 processor. The attitude angle data was collected on real-time by MPU-6050 integrated sensor chip, among this, the signal of acceleration and angular velocity were processed through Kalman Filter fusion algorithm.The main topic in this project involved the dynamics modeling and the design of controller for the quad-rotor. Firstly, we studied the dynamics theory of quad-rotor flight system and established the kinetic mathematical model basedon Euler equations. Secondly, according to the dynamic model, we choose classical PID algorithm as the main control algorithm and designed the PID controller for flight attitude. The input signal of PID controller was the angle data, which was attitude calculating by the Kalman filter controller, the output signal was the duty ratio adjusted by PWM technology, by this, achieved the control of motor speed and realized the attitude control of UAV ultimately.Based on the idea of modular when we design hardware or software, this project programmed the algorithm modules of communication system, filtering control and actuation by means of the LabVIEW graphical language. Every module designed of this UAV worked properly through a large number of hardware and software debugging and basic function test, and the hardware platform built also had certain reliability. We focused our efforts on the simulation experiments so as to verify the effectiveness of the design algorithms of attitude estimation and control. In addition, the PID controller based on Kalman filtering algorithm meet the basic system requirements through actual flight test. In conclusion, the preliminary design of this project had built the experiment platform for quad-rotor aircraft and achieved the flight control, it laid an excellent foundation for further study.