Design Of Controller For Quadrotor UAV And Research On Its Stability Performance

The quadrotor UAV with its simple hardware structure,low cost and other advantages,is increasingly used in military reconnaissance,geographic mapping,logistics and disaster relief and other fields,it has become the most potential and the most promising project in the UAV field.Because the quadrotor UAV has three position coordinates,three body attitude angles and four control volumes,it is an underactuated system with six degrees of freedom and four control inputs,so the quadrotor UAV control system has nonlinear,multivariable,strong coupling and other complex characteristics.In order to solve the problem that the quadrotor UAV is sensitive to the disturbance of the external flight environment caused by the complex control characteristics of quadrotor UAV,first,the main hardware modules of the quadrotor UAV were analyzed and selected,and the quadrotor UAV hardware test platform was built;then the basic structure,flight principle and control process of the quadrotor UAV are deeply analyzed,and based on the theory of aerodynamics,the precise dynamic mathematical modeling of quadrotor UAV is carried out;the double closed loop control structure of the position control subsystem as the outer loop and the attitude control subsystem as the inner loop is designed,and the traditional PID algorithm,fuzzy adaptive PID algorithm and based on integral backstepping algorithm these three algorithms to design three kinds of controller;finally,three different algorithms are applied to the Matlab experimental environment to design three complete simulation models of the quadrotor UAV controller,the three kinds of controllers are carried out in flight trajectory tracking experiment,autonomous hover experiment,anti pulse disturbance experiment and simulated anti wind continuous disturbance experiment,according to the results of the experiment,the stability of the three kinds of controllers is compared and analyzed.To further verify the conclusion of the simulation experiment,the flying test of the quadrotor UAV was carried out at a height of five meters.After a comprehensive comparison and analysis of the data of the simulation experiment and the flight test,we can draw a conclusion,the three controllers all enable the quadrotor UAV to achieve basic flight control requirements,but in control precision,adjustment time,anti-jamming performance and stability,fuzzy adaptive PID controller is superior to traditional PID controller,the controller based on the integral backstepping algorithm is superior to the fuzzy adaptive PID controller.The results of the hardware flight test are in agreement with theresults of the simulation experiment,and the conclusion of the simulation experiment is further verified.