The Research Of Vibration Filtering Algorithm For Hybrid Multi-Rotor Aircraft

The new hybrid multi-rotor aircraft consists of gasoline engine single rotor and electric multi-rotor aircraft. Gasoline engine rotor as the main force, mainly provides the aircraft with most of the weight of the static lift. Electric multi-rotor as an auxiliary power, is mainly used for flight attitude control. Hybrid multi-rotor aircraft due to the addition of the engine,compensates for the shortcomings of the traditional multi-rotor aircraft's short-flying and small-load. This aircraft can be mainly used for public security fire, disaster relief, UAV,agricultural plant protection and other fields.It is found that the vibration of the vibration caused by the mechanical rotor of the gasoline engine is not controllable due to the vibration of the rotor of the gasoline engine. The fundamental reason is that the sampling data of the flight control sensor are obviously disturbed.The original pure motor rotor filter algorithm is no longer suitable. We need to study the new vibration filter algorithm and attitude calculation algorithm to carry out reasonable and effective filtering.In this paper, the five-rotor airplane of the laboratory small-eccentric motor is taken as the actual object. Using the conventional motor plus eccentric rotor model to replace the gasoline engine power rotor ,and match the vibration characteristic spectrum.In this way,the aircraft not only greatly simplifies the experimental difficulty, but also validates the feasibility of the experimental model, which provides a simple and reliable platform for further research on later hybrid multi-rotor aircraft.Experiments using self-built small five-rotor aircraft model machine. The flight attitude description uses the Newton-Euler model. First, mathematical modeling of small five rotorcraft is carried out. On this basis, we carry out the overall design of the aircraft hardware platform,and the aircraft control system design and algorithm selection and software programming. Then we carried out the system debugging and experimental verification on the model machine. The final experiment has realized the vertical takeoff and landing action of the small five rotorcraft model machine, and the pitch, roll and yaw flight attitude control.Based on the characteristics of strong noise and non-linearity of the five-rotorcraft in the laboratory, through the state equation of the five-rotorcraft, we add the Kalman filter algorithm on the basis of the original algorithm. And on the basis of the original classical PID control structure, we design a double-loop attitude controller with cascade PID control structure. The experimental results show that the new algorithm is more excellent than the original algorithm in anti-noise ability, and the more accurate attitude angle is obtained in the attitude solution.The improved cascade PID controller can get better control effect in the attitude angle control process.