Design And Implementation Of Small Quad-rotor UAV Control System

Quad-rotor UAV has a good application value because of its small size,simple structure,vertical take-off and landing,and hovering in the air.UAV technology is currently in the stage of high development of civil-military integration.The application of UAV is booming in many industrial fields.In the requirements of industrial applications,there are several problems of UAV needed to be solve,such as oversize mechanical structure,short battery life and high manufacturing cost.To tackle these problems of UAV and combined with the development status of quad-rotor UAV technology,a small size,low-power and low manufacturing cost four-rotor UAV system is designed and implemented in this paper.Firstly,the composition and principle of the flight control system of the quad-rotor UAV is described.The UAV control system runs mainly including three steps:collect UAV flight data,perform attitude calculations,and complete flight control.Additionally,it also communicates with remote control equipments which are the wireless transmission equipment and PC ground station measurement and control system.Secondly,the functional modules and overall control scheme of the UAV control system are proposed.According to the design requirement,the electronic devices such as processors and sensors of the small size UAV control system are selected from the perspective of the embedded technology.The hardware circuit of’ the UAV control system and the fabrication and debugging of the relevant circuit boards are carried out based on the principle of modular design.Thirdly,the underlying driver program,function module program and data fusion filtering program of the functional module are programmed.In the main control program,the dynamics model of UAV system and the motor model are first established.A chaos enhanced fruit fly optimization algorithm CFOA is applied to identify the relative parameters.Then the reference model is given.The inner-loop attitude controller and the outer-loop position controller are realized via the PID algorithm.Finally,the designed algorithm is transplanted to the hardware platform for testing and online debugging.