Research On Modeling And PID Adaptive Control Algorith Of Multi-Rotors

With the rapid developing of micro electro mechanical technology,electric drive technology and new energy storage technology,multi-rotor aircraft has been causing wide concern and becoming a new hotspot of aircraft research by domestic and overseas scholars and scientific institution.It has the characteristics of simple structure,superior mobility,unique flight mode and great application value in the military and civil areas.In this paper,four-rotor aircraft(quadrotor)is selected as the research object.The modeling and adaptive PID control algorithms of quadrotor are researched.The problem of real-time posture measurement data and data fusion is solved.The aerial platform of quadrotor is designed,and the model built was simulated and verified on the flight platform.The main content of paper can be divided into four parts:The first part is an introduction: the background significance of the topic,domestic and foreign related research about modeling methods and control method are introduced.And the main content of this paper is given.Chapter two: First,the flying-mode and flight principle of the quadrotor are introduced in detail.Based on this,the assumptions of the quadrotor modeling are given,and the coordinates is established.According to Newton’s first law and the law of rigid body rotation,the mathematical model of the quadrotor,the six degrees of freedom model,is established.Meanwhile,the aerial platform of quadrotor,is made up.The platform includes two parts: quadrotor construction and flight control systems.Then,the key parameters-measuring experiments are designed.At last,the flight test is carried out based on the specific body parameters and the model.Experiments show that the model is correct and can provides a reliable model for design of the next controller.Chapter three: First,Euler angle method and quaternion method are briefly discussed.And for the problem about the influence of body vibration,the experiment of the attitude sensor is accomplished.Then,the data of the attitude sensor is processed.The new complementary filter fusion algorithm based on low-pass filter is proposed.The accuracy of attitude estimation can be further improved.Chapter four: First,the nonlinear system model of the quadrotor is simplified.On this basis,the PID controller is designed,and the fuzzy controller is designed.Then,the adaptive PID controller based on single neuron is designed.A fuzzy algorithm is added into controller to achieve the adaptive adjustment of gain coefficient K based on single neuron.The simulation results show that the adaptive PID control based on single neuron is superior to the traditional PID control and the PID control.