Study On The Autonomous Control System Of Quadrotor

Quadrotor structure is simple and flexible and can rise and fall vertically,have excellent performance that other aircraft do not have.The flight controller is the core part of the quadrotor,the quadrotor interacts with the outside world through the flight controller and controls the body's autonomous flight.The design of flight controller includes hardware circuit design,control algorithm design and software design.This paper studies the autonomous control system of aircraft and mainly completes the following tasks.(1)According to the requirements of the aircraft system,the sensor and data transmission module of the microprocessor power system are analyzed and selected,In addition,a reasonable hardware design scheme is put forward,and a complete hardware development platform is built.(2)Studied the core algorithm of quadrotor,mainly including attitude algorithm balance algorithm and PID control algorithm is analyzed theoretically the single-loop PID and cascade PID differences,and then by theory and experiment two aspects to explore the significance of various parameters of the PID algorithm(3)The software designs the underlying driver of the sensor,including the transmission of the wireless data of the communication remote control signal of the microprocessor and sensor.The algorithm is realized on the hardware platform,including the realization of the realization of the PID balancing algorithm for the quaternion arithmetic and the realization of the fixed-point navigation,which finally completes the design of the entire quadrorotor aircraft system.After testing,the quadrotor can complete basic flight movements and return the flying attitude Angle to the ground station.