Research On Real-time Simulation Platform Design And Motion Control Technology Of Quadrotor UAV

Quadrotor UAV effectively balances the anti-torque brought by the fuselage rotor to achieve a variety of flying sports such as hovering in the air,vertical take-off and landing,etc.,and has the advantages of remote control,strong mobility and flexibility.Therefore,it has high research value and application prospect in the civil field and military field,and it has gradually become one of the hot topics in domestic and international research.At present,there are many researches on the quadrotor,but there are still some problems such as the flexibility and portability of the existing simulation platform,the high test cost of the hardware in the experimental test of algorithm,the difficulty in designing the control system with high response speed and high stability.In order to solve these problems,this thesis aims at the design of flexible and portable four-rotor UAV real-time simulation platform and the optimization of motion control algorithm;moreover,the hardware and software system and real-time simulation platform are built,and the control system and attitude solution are studied in depth.The main research contents and results are as follows:1.The hardware and software system of quadrotor UAV based on STM32 is studied.The hardware system schematic and layout design are given.The hardware is divided into five modules: microcontroller module,inertial navigation module,communication system module,serial port module and power module.The UAV software process was designed and the functions of sensor calibration,attitude solution,App control and host computer debugging were completed.2.Combining the structure and movement status of the quadrotor,a real-time simulation platform of quadrotor UAV composed of UAV model,motion control algorithm module and graphical user interface is designed and implemented.In addition,aiming at the control system part of the platform,the commonly used control algorithms of quadrotor are analyzed;besides,a PID control system is designed for the quadrotor and an improved integrator back-stepping control system is designed from the perspective of easy programming.The position command tracking of each system,whether hovering stable,anti-pulse interference and continuous gust disturbance were analyzed by simulation.The results show that the improved integrator backstepping control system overall simulation performance is better than the PID control system,especially in the anti-jamming ability of yaw angle.And for the attitude solving system of the platform,three different attitude calculation methods based on complementary filtering,quaternion-based and Kalman filter are described.In addition,after reducing the noise of the original sampling data of the accelerometer by using 8-depth sliding average filter,the three methods are simulated and compared.The comparison results show that Kalman solution and quaternion solution are superior to complementary filter solution,and the solution result is more accurate.3.Finally,the real-time simulation platform is tested and the actual test and verification of the designed motion control algorithm is carried out based on hardware and software.After running the test,the UAV model and related parameters of the simulation platform are easy to configureand the motion control algorithm module has low coupling degree with the UAV model and can be flexibly dragged to replace.The measured data show that the attitude solving system can accurately integrate the data of each sensor,and the improved integrator backstepping control system has the advantages of simple programming and is better than the PID control system.