Design And Implementation Of Cascade PID Attitude Control Method For Quadrotor

The quadrotor is an electric,multi-rotor remote control/autonomous aircraft with vertical takeoff and landing,and has good low-altitude flight performance.Because of its many advantages and wide application prospects,it has become an international research hotpots in recent years.In the quadrotor technology,the design of the attitude control algorithm has been one of the concerns of many researchers.How to design a control algorithm with both control effect and practical value on the resource-constrained embedded hardware platform.Control requirements can also be applied to the embedded flight control platform,which makes the design of the attitude control algorithm has become particularly elegant.In this paper,the attitude control algorithm of quadrotor is studied and improved.The design of attitude control algorithm in resource-constrained embedded hardware platform is necessary to consider both the control effect and the practical value.This paper combines the advantages of simple and reliable PID algorithm,and on the basis of the use of cascade PID attitude control strategy,both to improve the dynamic characteristics of the process,but also quickly overcome the secondary disturbance into the secondary circuit to improve the stability of the system and Adaptability to load changes.The realization of the method includes two parts,the hardware design of the module circuit,especially the master and the sensor hardware circuit design,the software first based on the IMU unit to solve the current attitude of the aircraft,and then based on the current attitude using cascade PID control strategy,and finally According to different models to adjust the appropriate parameters for flight.The simulation results show that the improved Cascade PID attitude control algorithm has good control performance.The system overshoot σ<3%,rise time Tr<1s,steady state adjustment time Ts<2s,steady state error<0.1%Square wave attitude signal input test,the cascade PID attitude to follow the performance was significantly better than single-stage PID.And finally on the aircraft flight test to meet the quadrotor flight control requirements.The research results have practical engineering value for the embedded quadrotor hardware platform with limited resources and limited computing ability.