Research On The Optimal Design Of The Control System Of The Cable Multi-rotor Aircraft

In the civilian,military,scientific research and other fields,Multi-rotor aircraft has a wide range of applications.Multi-rotor aircraft have a vertical takeoff and landing,fixing hover characteristics as well as helicopter,but it has advantage of a more simple structure,small size,low cost.Multi-rotor aircraft have a fixed hover,taking off and landing in a small space,flying in a low-altitude compared with fixed-wing unmanned aerial vehicles.However,multi-rotor aircraft has its own defects of lack of endurance,in a very short time,the need for an important monitoring environment does not guarantee real-time monitor.Therefore,we need to research a long time,fixed-point monitoring system.In this paper proposed a cable multi-rotor,which can solve the problem of real-time monitoring of all-weather.The multi-rotor needs a stable and reliable control system after solving the problem that energy cannot be supplied for a long time.The designing control system plays a key role in performs a lot of tasks in this system.In this system,a series of design and research of multi-rotor aircraft control system is carried out.Firstly,the basic structure and working principle of the multi-rotorcraft are analyzed,and the displacement dynamic equation and the rotating dynamic equation of the six rotor craft are established by the Newton-Euler theorem.The analysis of the cable Force model and the cable force model is deduced from the theory of drape line.On this basis,the dynamic model of cable six rotor craft is established.Secondly,according to the mission and design requirements of the aircraft,a modular design concept was used,the design of the system hardware and software.Hardware designing is the main controller interface,the software designing of the overall system operation and the design of each module driver.Data acquisition and analysis,the attitude calculation of the aircraft is carried out by using quaternion,and the design of the digital filter is designed with complementary filter and Kalman filter.The design of control algorithm have the analysis of the classical PID control algorithm,the system adopts double closed loop cascade PID control algorithm for attitude control,position control and height control.The RBF neural network control model has been analyzed,deducing the RBF neural network PID control parameter tuning principle and simulating the experiment.The system is composed of hardware,software and control algorithm designing.Finally,the experimental design of the cable multi-rotor aircraft was carried out.First,the flight parameters of the control system were debugged on the ground platform,and then the validity of the air flight verification control algorithm.The experimental results show that the design of this system can meet the requirements of the stability of the cable multi-rotor aircraft,verify the validity of the algorithm,and basically completed the proposed task requirements.