A Study On Wall Cleaning Quadcopter

Quadcopter has many characteristics and advantages such as simple structure,flexible control and high maneuverability.It is very suitable for executing the missions of reconnaissance and surveillance.It is widely used in military and civilian fields,such as aerial,line inspection,plant and so on.The wall cleaning robot is not convenient and flexible.So this paper aims to study a kind of wall cleaning quadcopter to complete the work.At first,this paper carries on the design of structure of the wall cleaning quadcopter,and the purchase of materials assembled prototype,and then introduces the wall cleaning principle of UAV flight dynamics,its modeling,and on the basis of the design of control algorithm.Finally,the flight test and the cleaning experiment are carried out.The experiment proves that the system is stable and can finish the cleaning work.The main contents of this paper are as follows:(1)prototype design.The design of the prototype includes hardware design and software design.The main content of this paper is to develop a kind of unmanned aerial vehicle(UAV)which can be used for wall cleaning.(2)dynamic modeling of wall cleaning quadcopter.The aerodynamic characteristics and flight attitude control of four axis aircraft are analyzed.It is very important to establish a mathematical model for the analysis of the flight attitude.Accurate analysis and modeling is the basis for the design of four axis aircraft control algorithm.(3)the flight control algorithm is designed and implemented.Based on the dynamic modeling of aircraft,a practical control algorithm is proposed,and the solution of attitude angle is discussed in detail.The attitude angle is one of the core contents in the study of the wall cleaning quadcopter.At last,conventional PID controller,integral separation controller and improved integral separation controller are simulated in the environment of MATLAB and compared with each other.Then the actual flight test and cleaning test are carried out.The test results show that the wall cleaning quadcopter in this paper is stable,and can finish the cleaning work according to the command.