Design And Attitude Control Of Four Rotor Aircraft Based On Y Structure

Rotor-aircraft which based on electricity power has the ability of self-balance, human-computer interaction and autonomously flying. In this paper, we propose a new four-rotor aircraft based on the structure of “Y”, the whole structure uses the coaxial helicopter structure, and draws lessons from the layout balanced structure of multi-rotor aircraft, so it has a simple and balanced structural properties. In this paper, we design a structure of four-rotor aircraft based on the physical structure of “Y” and establish the corresponding mathematical model. After studying and analysising the dynamics model and the attitude controller, we achieved the following main results:1. The Establishment of physical system of four-rotor aircraft based on the structure of “Y”In this article, we design the complete mechanical structure and electrical systems of four-rotor aircraft based on the structure of “Y”. This kind of aircraft makes space allocation more rationalized than the traditional four-rotor aircraft. It costs less material and occupies a smaller size than the traditional four-rotor aircraft. Four-rotor aircraft based on the structure of “Y” can determine the direction of the aircraft by tail rotor, and gets a more stable system because of the structure is in the shape of triangle. We design the mechanical structure by the mechanical software of Solid Works which is introduced in Chapter II. Next, using the C / C ++ language under the environment of Arduino, we import the control algorithm through the board of the mega 2560 core processor to complete physical experiment. Finally, the four rotor aircraft finishes the hovering and pitching mission, and obtain the perfect the result of the data of experiment, and then we analysis the result of the experiment, it proves the effectiveness of the four-rotor aircraft based on the structure of “Y”.2. Dynamic Modeling and Analysis of four-rotor aircraft based on the structure of “Y”We established the corresponding mathematical model of the special structure of the aircraft. Under the reasonable assumptions of the model, the dynamic model of four-rotor aircraft based on the structure of “Y” is established by Lagrange method and then we check the correctness and validity of the model through Euler model. Finally, we analysis the stability and controllability of four-rotor aircraft based on the structure of “Y”.3. The research of the control method of the differential cascade PID used in four-rotor aircraft based on the structure of “Y”In this article, we depart the altitude control of four-rotor aircraft based on the structure of “Y” into two parts: the altitude control and the height control. The design of the differential cascade PID controller is based on the dynamical character of four-rotor aircraft based on the structure of “Y”, and it analyses the controlled object in different states in response curve of mathematical analysis, The rate of change of attitude as a parameter is introduced to balance the posture controller, to achieve effective control of the four-rotor aircraft based on the structure of “Y” attitude and height. And the comparison to other control methods showed that: To the balance for the attitude control problem, the control method is more effectively in controlling the aircraft attitude, and it had a stronger anti-jamming capability; and we prove the superiority of the method on the physical platform.4. The research of the control method of ADRC used in four-rotor aircraft based on the structure of “Y”The comparative experiments between the ADRC methods and other control methods showed that: For balanced attitude control problems, the ADRC control method controls the aircraft attitude more effectively, and has a stronger anti-interference ability. Tracking signal problem based on this model, ADRC control method can effectively track them and will not be affected significantly by Gaussian white noise, and has a wide range of stability and robustness.