The Research And Design Of Quadrotor Unmanned Aerial Vehicle

The quadrotor UAV as a kind of coaxial rotor wing miniature aircraft which has a feature of simple mechanical structure,small size and flexibility,has wide application value in military and civil fields.Due to its unique physical structure and nonlinear control characteristics,strong coupling,parameter uncertainty and easy interference has been hotspot and difficulty in the flight control field.Therefore,it is necessary to research and design the controller for the good and stable flight control of the quadrotor unmanned aerial vehicle.In this paper,using the quadrotor unmanned aerial vehicle as the research object,the nonlinear model is carried out based on Newton-Euler formula.According to its model,the controller is researched and designed,the main work is as follows:First,the physical structure and working principle of the quadrotor unmanned aerial vehicle are introduced.The force states of system is analyzed,and the non-linear model of the system is established.Secondly,in view of the problem of nonlinear,strong coupling,uncertain parameters and easy interference of quadrotors,Linear parametric method(LPV)is used to linearize the nonlinear model,and the quadrotor transmission function matrix is obtained.Using Tracking Differentiator(TD)to arrange the transition process,and reuse TD quality filtering and tracking effect to design the linear internal model controller to control the attitude and position tracking of the quadrotor.So a quadrotor controller based on tracking differentiator is presented,and the stability analysis and simulation test are carried out.The simulation results show that the designed controller has good robustness in inhibiting interference and parameter uncertainty.Finally,aiming at the parameters uncertainty,strong coupling problems and interference problems in the actual flight caused by the nonlinear and underdrive characteristics of the quadrotor unmanned aircraft model,the proper simplification model of the quadrotor system is used to design the attitude controller based on the Backstepping method.The simulation experiment and the Quanser 3-DOF Hover semi-physical platform experiment have verified the performance.Considering the “computing expansion” problems of the traditional backstepping and the overshoot problem caused by model simplification,the dynamic surface control method is used to optimize the backstepping method by introduce a low pass filter which allows the object mathematical model to be non-differentiable.Considering the inaccuracy of the simplified model,the overtones of the attitude angle can be easily caused,the output regulation method based on nonlinear internal model is used to solve the asymptotic tracking and interference suppression of the system and the internal model equation with error is presented.Thus a nonlinear internal model output regulation controller based on dynamic surface is designed,and the stability analysis,simulation and 3-DOF Quanser Hover platform experiment has been taken to test the stability of the proposed controller.The experimental results show that the designed controller has strong robustness insolving the strong coupling characteristic,parameter uncertainty and easy interference characteristics of the quadrotor.