Design And Implementation Of Four Rotor UAV Control System Based On Intelligent Optimization Algorithm

The four rotor unmanned aerial vehicle(UAV)is one of the multi rotor UAVs.Compared with the fixed wing unmanned aerial vehicle,it has many advantages,such as low demand for landing environment,small volume and small mechanical structure,and so on.In recent years,the deepening of the application of microelectronic technology and the maturity of control theory provide strong technical support for the development of the four rotor UAV.Because of its good manipulation,strong stability and good portability,it has been widely used in different industries,such as aerial photography,photography,disaster relief,electric power inspection,terrain survey and so on.However,the motion model of the four rotor UAV has the characteristics of strong coupling,less driving number,less degree of freedom and nonlinearity.This is very difficult for the control of the four rotor UAV.Therefore,improving the stability and anti-interference of the four rotor UAV and designing reliable and efficient controllers are the key issues in the design of the four rotor UAV.This paper focuses on the design of the four rotor UAV control system.The main work includes the following three parts.First,combined with kinematics and dynamics knowledge,the flight principle of the four rotor UAV is described in detail.The coordinate system and the ground coordinate system used to describe the attitude information of the four rotor unmanned aerial vehicle(UAV)are established,and the coordinate transformation formula is derived,and the attitude description method of the four rotor unmanned aerial vehicle is given.Then,based on the Newton theorem and Euler theorem,the dynamic equations and equations of motion of the four rotor UAV are established.It provides a theoretical basis for the design of four rotor UAV controller.The second part of the article designs the hardware circuit of the four rotor UAV control system.The hardware system mainly includes the main control module,the attitude acquisition module,the wireless communication module and the motor drive module.Considering the performance requirements of the four rotor UAV controller designed in this paper and the cost of each chip,STM32F407 is chosen as the main control chip.MPU6050,HMC583 L magnetometer and BMP180 barometer are used as attitude sensors.Wireless communication module adopts ML01 D wireless transceiver module.Then the circuit schematic diagram of each hardware module is designed in Altimdesigner and the PCB diagram is drawn.The third part of the article mainly completed the design and verification of the control algorithm for the four rotor UAV control system.First,the attitude calculation formula of each attitude sensor is deduced based on the principle of various attitude sensors.Then,based on the random weighting filtering algorithm,a multi data fusion algorithm is designed for the four rotor UAV,which ensures the accuracy of the attitude angle information.Then based on the PID control algorithm,the controller is designed for the four rotor unmanned aerial vehicle(UAV)control system,and the optimal control parameters are selected with the simulation platform and the actual flight platform to debug the control parameters.Finally,the trajectory tracking capability of the designed control and the convergence of the attitude angles are tested on the Simulink simulation platform,and the effectiveness and stability of the designed control are verified by the actual flight experiment.