Study On Quad Rotor Flight Control Method Based On Neural Network Adaptive

The quad rotor aircraft has wide application prospects in investigation and rescue,scientific data collection,geological and forestry data exploration and video surveillance,because of its simple structure,stable flight,easy operation and vertical take-off and landing,and free hovering.However,the quad rotor aircraft control system shows the mutivariable,nonlinear and strong coupled,under actuated characteristics with uncertain parameters,which make it difficult to achieve satisfactory control results under non hovering condition with the conventional control methods.Therefore,the research on the control method of the quad rotor aircraft is of great significance to the development of the quad rotor.A detailed analysis of the mechanism of the modeling process is given for the quad rotor aircraft,i.e.the mathematical model of the motor model,position and attitude motion model,as a result,the system model of quad rotor aircraft is presented,and the simulation process is designed with the SIMULINK software package.Then the control process of the quad rotor aircraft is analyzed,and the classic PID controller is designed base on the linearization model of the quad rotor system.For the control parameters of the classical PID controller cannot be changed on line,the problem such as disturbance and attitude coupling cannot be solved effectively.In this paper,the neural network is connected with the classical PID controller.The single variable control system and multivariable control system for the PID neural network are designed respectively.Three controllers are simulated for pitch and yaw loop respectively,and the results are compared and analyzed.The simulation results show that the single variable control system for the PID neural network can adapt to the environmental change than the classical PID controller better,while the multivariable version can better perform the function of decoupling of the attitude.Finally,the paper presents the design process of the hardware and software of the quad rotor aircraft controller,and carries out the outdoor flight test.