Research On Motion Control Technology Of Quadrotor Based On MEMS Sensor

Quadortor balanced the anti-torque caused by paddles with it's unique structural characteristics.It can realize a variety of flight operation,for instance vertical take-off and landing and hovering with a high degree of flexibility and environmental suitability.In recent years,these technologies has been widely used in military and civilian fields and relevant scientific research personnel also conducted in-depth research.In this thesis,complete the construction of Experimental Platform and Mathematical Model based on the motion control technology of quadortor and proceed a intensive study of Control Algorithm and Attitude Calculation.There are the following main work contents.1.This thesis analyzes detailedly the quadortor's structure through the research at domestic and overseas.On that basis,this thesis analyzes the Newtonian Mechanics Equation,Coriolis Equation,Vehicle in Motion and the force conditions of Vehicle to derived the Mathematical Model of quadortor with reasonable geometric abstraction.2.The Mini Quadortor Control Platform with the Motion Sensor MPU6050 which based on the Microprocessor Stm32F103C8T6 and Micro-electromechanical Systems as the core finished the schematic diagram designing and PCB(Printed circuit board)designing with the software Altium Designer.It includes the MCU processor module,power module,sensor module which includes triaxial accelerometer,triaxial turn meter and atmospheric pressure altimeter,wireless communication module,etc.Through the calibration and fusion algorithm can obtain the fuselage,and then the platform use the library function completed the construction of the software system with KEIL system.3.Analysis the main control algorithm and then designed PID control system and fuzzy control rule up to finished the modified Fuzzy-PID control system designing.It makes system to adaptive adjustment in different conditions,so it has better robustness.In the MATLAB environment,there has built up a simulation model and this model can be simulated partly to the step response of the system,the position tracking of desired trajectory and the capacity of resisting disturbance to pulse signal.4.Designed the attitude algorithm system with Kalman Filtering,complementary filtering,DMP and preprocess the acceleromrter raw data through weighted average program can has a test with the different conditions of flight control platform,under laboratory conditions.The analysis of the experimental result shows that the designing of attitude algorithm system in this thesis can fuse Multi-axis sensor data accurately,and the fuzzy PID control system can improve the state of the fuselage effectively.