Research On Four Rotor Aircraft Attitude Control Algorithm Based On Fuzzy Self-tuning PID

With the progress of society,the demand for aircraft has been continuously improved,and the traditional spiral wing helicopter has become increasingly unable to meet the needs of people.Continuous improvement and innovation in key areas of technology,sensor and power driver based on four rotorhelicopter has gradually replaced the traditional spiral wing helicopter aircraft,the aircraft industry has become a research hotspot.Four rotor aircraft mechanical principle is simple,consisting of four spiral wing and fuselage shape cross combination,is a strong coupling,nonlinear and under six degrees of freedom drive system,which is controlled by four propeller speed,can achieve a variety of flight attitude,for example: smooth and hovering flight,climb flight,decline the flight,flight pitch,yaw rolling flight,flight.Compared with the ordinary spiral wing helicopter,the four rotor aircraft has many advantages,such as low cost,high safety,rich function and simple structure.It has been widely used in military and civilian fields.The attitude control of the four rotor aircraft is the core of the system.In this paper,the attitude control algorithm is analyzed and researched deeply.Firstly,the development history,research status and development trend of aircraft are discussed in this paper.Then,the ground coordinate system and the aircraft basic coordinate system are established,the principle of each flight attitude of the vehicle is analyzed and expounded,and the dynamic model is established for it.Then the attitude angle calculation and control process is studied.In MATLAB environment,the PID algorithm and the fuzzy self-tuning PID algorithm are used to do simulation experiments.The results show that the control effect of the latter is better than the former.Subsequently,the hardware system and software system of the aerocraft were designed,and the experimental platform was set up.Finally,the attitude of the platform and the attitude control algorithm are proved to be valid and correct by simulating the flight modes and the flight modes of remote control.