Research On Trajectory Tracking Control Method For Six Rotor Aircraft

With the development of Micro Electro Mechanical System(MEMS)technology,the MEMS inertial navigation system with small volume and the weight light has been mass production,which provides the possibility for the autonomous control and research of multi rotor aircraft.Six rotor aircraft is widely used in various fields of modern society for which it has advantages of simple structure,strongly load capacity,good reliability and simple operation.Multi-rotor helicopter was applied in related fields more effectually which depends on the stabilization and regulation of its attitudes and the capacity of accurately tracking.Thus the thesis takes six rotor aircraft as the research object to the research on the trajectory tracking control method.The premise behind aircraft trajectory tracking control is that the stability of the aircraft flight attitude.Thus combined with the mathematical model of six rotor aircraft,PID,Active Disturbance Rejection Control(ADRC)and linear active disturbance rejection control(LADRC)are used to the study of aircraft attitude.Then the effectiveness of the designed controllers has been validated by the way of software simulation.Based on the above research,the trajectory tracking controller of six rotor aircraft is designed,and the effectiveness of the design verified by simulation.The main contents are as follows:First of all,this thesis describes the structure and basic operating principle about six rotor aircraft,combining with the aircraft attitude angle transform relations,the force and the torque analysis of each rotor,the laws of physics,and then the kinematics model and dynamics model of six rotor aircraft has been established.Secondly,to simplify the established mathematical model of six rotor aircraft,and according to the classical PID control theory to design the six rotor aircraft attitude controller and to control the flight attitude under the ideal situation and the outside disturbance.Considering the attitude control effect under PID controller is not ideal,combining with active disturbance rejection theory to design the attitude controller which has strong anti-disturbance capability,controlling the six rotor aircraft flight attitude.Again,considering ADRC algorithm with many adjustable parameters and methods of parameter optimization are complicated,each link of the ADRC was linearized to get LADRC controller for controlling the six rotor aircraft flight attitude.Finally,depending on the above analysis about six rotor aircraft flight control effects of PID controller,ADRC controller and LADRC controller,combined with the characteristics of six rotor aircraft mathematical model,to design the position controller by PID and to obtain the desired attitude information through deal with the desired location information,and then to design the attitude controller by LADRC for achieve the purpose of tracking specific trajectory.Therefore the research of trajectory tracking control of six rotor aircraft has been completed.