Design And Implementation Of Control System For A Quadrotor Unmanned Aerial Vehicle

Quadrotor, also called four-rotor aircraft, has four symmetric propeller, which is a kind of simple structure, flexible control, vertical take-off and landing unmanned aerial vehicles(UAV). It has broad prospects for military and civilian. It is a complex multi-disciplinary integration, and provides a good platform for the realization of the robotics. It also has high scientific value in intelligent robot control, inertial navigation, route planning, three-dimensional scene reconstruction and multimachine collaboration and other areas.In this thesis, control system is studied based on quad-rotor UAV. This thesis introduces the development situation, expounds the research background and significance, and analyzes the overseas and domestic research status and development trend.Based on the structure characteristics of quad-rotor, the flight principle and the basic movement were analyzed and described. Also, the gesture description method for quad-rotor is introduced, including the establishment of the coordinate system and the Euler angles method, the direction cosine method and quaternion method. And the dynamics model was established according to Newton’s second law and Euler equation. Then made the overall design of the quad-rotor control system. The control system structure was designed as well as the main controller, attitude acquisition module, motor drives, and wireless communication module. According to the overall design requirements, the control system hardware was desi gned. Regarding the components selection, the main controller using Freescale’s Kinetis chip MK64FN1M0VLQ12 which is based on ARM cortex-M4 core, and inertial navigation sensor using Invensense’s MPU6050 chip. The PCB was designed after finished the schematic of power circuit, brushless motor drive, the main controller module and inertial navigation sensor module. According to the dynamic model, using a single-stage and cascade PID algorithm for the quad-rotor position and attitude control. After the simulation by Matlab/Simulation, the results show that attitude cascade PID control algorithm has a greater advantage in tracking accuracy and the performance of attitude angle. Then the overall block diagram of the system software was designed based on the characteristics of embedded system software requirements. The software of system initialization, attitude information access, control algorithms were designed, as well as the flow chart of each module.At last, the control system including hardware and softwar e were tested. The test also include static data collection and analysis, and the flight performance. Test results show the design is feasible, stable, and reliable.