| Multi-rotor aircraft plays an important role in military and civilian fields,for it has advantages of small size,light weight,easy manipulation,simple mechanical structure.Effective multi-rotor flight control system can ensure the flight stability of the aircraft,enhance the handling quality,improve flight safety,reduce the difficulty of manipulation.Therefore,it has great theoretical and practical value to develop a low cost,light and low power flight control system suitable for multi-rotor aircraft.This paper studies low-cost flight control system of the multi-rotor vehicle is studied from angles of software and hardware architecture,navigation system and flight control law,with the research on the quadrotor platform developed by the research group.This paper is organized as follows.Firstly,based on the technical requirement of multi-rotor aircraft flight control system,the hardware and software design of the system are described breifly,the navigation system and the flight control law design scheme and the flight simulation verification scheme are proposed.The dynamic modeling of the quadrotor is based on Newton-Euler method.An attitude and heading reference system based on multiplicative adaptive extended Kalman filter is designed,based on the observations of position,speed,yaw from dual antenna differential GPS,a navigation system combined with SINS and GPS is designed;for the quality uncertainty during the whole flight,a controller based on MRAC is designed,and the increasing stable mode,headless mode and speed mode based on the joystick are proposed;the automatic flight module is introduced and finished.Finally,the software in the loop and hardware in the loop simulation for quadrotor are introduced,and the results of this study has been proved to be effective by the actual pesticide spraying flight.Comprehensive testing shows that the low-cost flight control system designed in this paper can meet the requirements of multi-rotor aircraft flight control. |
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