The Study And Researchof Four Axis Aircraftfixed Height And Point

As the inertial navigation sensor technology becomes mature and the Control algorithm be more more reliable,the design of quad-copter is more stable and reliable.The structure of four-axis aircraft is sample and small,while the fixed wing aircraft cannot even flight with the similar sample structure.Four-axis aircraft has diverse and flexible flight mode.It can achieve vertical take-off and landing,hovering and other functions.Currently regional conflicts continue to occur and the situation of anti-terrorism is still grim.The military of so many countries is developing their own unmanned aerial vehicles,as a new generation of reconnaissance aircraft and signal relay.In the civilian area likes high-voltage wire inspection,forest fire inspection,aerial photography,agricultural protection and other fields,four-axis aircraft is playing more and more important role.As a multiple input,strong coupling,multivariable,underactuated system,the control algorithm of quad-copter is very complicated.As a high-integrated hardware platform and control algorithm practical platform,more and more researchers has devoted to the research of the four axis aircraft.A complete axis control system design includes two parts: software design and hardware design.The design of the hardware system mainly includes the design of the flight controller and the design of the ground receiver.Four aircraft flight controller uses high performance single chip computer to get the original data of six axis sensor,pressure gauge,ultrasonic sensor,GPS sensor.The ground receiver uses high performance single chip microcomputer to complete data communication with four axis aircraft through NRF24L01.The four rotor controller transmits the body attitude information and sensor operation state information to the ground receiver.Software system design includes three parts of the program design,respectively,the flight controller program design,handled data receiving terminal program design,as well as based on the MFC host computer program design.In this paper,the communication protocol between the handled terminal and the flight controller is designed,and the communication protocol between the terminal device and the host computer is alsodesigned.In the actual test,the four-axis aircraft can realize various flight functions designed in this paper.In the meanwhile,it can maintain normal communications with the ground receiver.After power supplies,the four-axis aircraft will complete the sensor equipment inspection to discover and eliminate hardware troubles.The communication between the ground receiver and the host computer is normal.The receiver can display parameters of the aircraft body and realize the data storage.The experimental data show that results of this study match the expected results.The experiment scheme is feasible.