| Quadrotor UAV is a kind of multi-rotor aircraft with wide application.In recent years,with the continuous progress of electronic technology and control technology,the research on the control algorithm of quadrotors has also received great attention.Based on the brief description of the quadrotor development course and its popular control methods,this paper concentrates on minitype quadrotor and analyses the kinematics of quadrotor by Newton Euler equation,then,the model equation of quadrotor UAV is derived and three kinds of controllers are designed for quadrotor.The feasibility of the proposed controller is verified by several experiments.The main research contents and achievements of this paper include the following aspects:1.After obtaining the rotation matrix between the body coordinate system and the ground coordinate system,a kinematic model of the complete quadrotor is established,and the gyroscope effect and the air resistance in the flight process are taken into account.2.A minitype quadrotor is designed and built,the hardware and algorithm codes are written.Then,the multiple optimized PID control method is loaded into the flight control board.The experimental results show that the quadrotor can be effectively controlled.3.According to the dynamic characteristics of quadrotor,the model is divided into the attitude loop and the position loop.The attitude loop use sliding mode control method based on exponential reaching law,and the position loop utilize backstepping sliding mode control method.The simulation verifies the accuracy and effectiveness of the combined control of the two control methods.4.The uncertainty caused by the complex flight environment during the flight of the quadrotor is considered,and the adaptive approach is added to the control system,finally,an adaptive backstepping sliding mode controller is designed for postion loop of quadrotor.The feasibility and robustness of the proposed method are verified by trajectory tracking and anti-interference simulation. |
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