Research On Target Tracking Control Technology Of Unmanned Multi-Rotor Helicopter

In recent years, because of the simple structure and stable flight characteristics, unmanned multi-rotor helicopter has been more widely used in military and civilian areas. With the development of UAV technology, the unmanned multi-rotor helicopter is required a better autonomy. Taking a small unmanned multi-rotor helicopter as the experiment platform, a target tracking control system is designed, aiming at the requirement of target tracking.Firstly, this thesis analyzes the control principle of unmanned quadrotors helicopter, establishes its mathematical model, and designs the flight control laws of attitude loop and trajectory loop based on PID. Through the numerical simulation, the feasibility and effectiveness of these control laws are verified.Secondly, based on the requirements of target tracking and autonomous flight control, a hardware overall design scheme is proposed. An on-board image processing module is designed to improve the efficiency of image processing. Besides, the control module, sensor module and obstacle avoidance module are designed respectively. And the safety precautions of the unmanned multi-rotor helicopter are designed to protect the hardware system.Thirdly, software overall process of the unmanned multi-rotor helicopter target tracking system is designed according to the hardware. According to the functional requirement, this thesis emphatically designs target recognition function based on Hu moments matching. Besides, autonomous take-off and obstacle avoidance modules are designed to improve the autonomy of the unmanned multi-rotor helicopter. The communication protocol is designed to integrate the whole system.Finally, this thesis integrates the hardware and software of system, and completes the tests of target tracking and autonomous flight control. The results show that the target tracking control system of unmanned multi-rotor helicopter has the stable autonomous flight ability. At the same time, this system can track the moving target in real-time with high precision, which has good reliability and universality to different unmanned multi-rotor helicopter.