Research On State Monitoring And Control Technology Of Aerial Robot

The aerial robot is a kind of aerial work platform with the strong maneuverability,lightweight,flexible operation,high intelligence and no casualties,which has very wide applications in military reconnaissance,aerial photography,pipeline survey,environmental monitoring,pesticide spraying,material transportation and other military and civilian fields.For any aerial robot,accurate condition monitoring and control is the premise of all the applications.So this paper focuses on the processing of sensor data.On this basis,achieve the condition monitoring and conduct research on control technology of the robot.First,this paper studied the characteristics of the sensor used by aerial robot accordingly.Then the original data of the sensor were processed by using recursive average filtering method in order to reduce the error of sensor input and improve its static and dynamic characteristics.Got accurate position and location information of the aerial robot by using data fusion method and attitude algorithm,thus realizing the condition monitoring.On this basis,based on mechanical analysis of single rotor of the Aerial Robot,established the linear and angular motion equation through the simplification and decoupling,getting mathematical models of attitude and altitude decoupling.In addition,studied the flight principle and mathematical model on the aerial robot for the further study and the control law of the control system was designed.On the basis of the study of PID control algorithm,PID controller was designed and simulation analysis were conducted.Finally,achieved the accurate control when the robot was hovering by using the data fusion method algorithm and PID control algorithm.The experimental results indicate the method of condition monitoring and control method of the aerial robot feasible.In addition,the two methods can achieve condition monitoring and control of the aerial robot.