Research On Attitude Control Algorithm Of Four Rotor Aircraft

Four rotor aircraft are widely used in many industries and fields,it can be seen,for example,in the military,civil and commercial,in these areas and industry it has played its due value.Four rotor aircraft the performance of the flying attitude is directly related to the flight safety and economic benefits.The stability of the attitude of the four rotor aircraft is very important.So the fuzzy control rules of fuzzy PID control is based on the operation experience,improved fuzzy PID control.At the same time,as the traditional PID parameter tuning requires a certain amount of work experience and skills,but also have plenty of time,and adjust the PID parameters cannot be adaptive to changes in the external environment,so it is difficult to four rotor aircraft attitude control to get good Control effect.The specific contents include:1.Based on the existing research results,the mathematical model which can be applied to the four rotor aircraft is deduced by using the knowledge of the related physics and the working principle of the flight attitude of the four rotor aircraft.At the same time,the Simulink module of the four rotor dynamics model is established by using MATLAB,and the simulation of the attitude control of the four rotor is carried out.2.The fuzzy control rules of fuzzy PID control is based on the operation experience,and the fuzzy control does not have the ability of autonomous learning.In this paper,artificial neural network is used to generate fuzzy rules,and the advantages of artificial neural network and fuzzy control are combined with each other,furthermore,the PID parameters are adjusted to realize the attitude control of the four rotor aircraft.While for vibration noise generated by the aircraft itself,it was filtered using a Kalman filter3.Because the power source of the four rotor aircraft is provided by the rotation of the propeller and according to the characteristics of its control signal instruction.Based on this,in order to improve the control precision of the control system,this paper will repeat compensation control and neural fuzzy PID control combined,but also can achieve the four rotor aircraft attitude control.4.For the traditional PID control algorithm parameters in the setting of work experience and some other limitations.In this paper,the seeker optimization algorithm is used to adjust the PID parameters,the seeker optimization algorithm in the tuning PID parameter optimization process will not "escape".It can make use of the population information effectively,and realize the attitude control of four rotor aircraft with this algorithm.Through the simulation experiment,we can see that the above control algorithm can achieve good control effect on the four rotor aircraft,and its control performance is superior to the traditional PID control,and all have the ability of anti-interference,and its control precision is improved,and has certain anti-interference ability,the control precision is improved.