Research On Application Of Tethered Multi-rotor Aircraft Control System

Multi-rotor aircraft is high in mobility and simple to operation.It can complete a variety of special flying missions and is therefore gradually applied to various fields.However,its performance is limited by the short life time.The mooring aerostats rely on the lift provided by the gas in their capsules and the pulling force of the mooring cables to park in the target altitude range.The moored aerostats can transmit electricity and information through the mooring cables and can work for a long time,but its mobility is low and its wind resistance is weak.For the advantages and disadvantages of the two above,the moored multi-rotor aircraft system designed in this paper has the advantages of simple operation,high maneuverability,long endurance,and large load capacity.The main difference between the moored multi-rotor aircraft and the common multi-rotor aircraft is that the mooring cable is mounted under the fuselage.This requires a higher resolution of the attitude angle and a higher control algorithm,which is neglected by researchers in China.Accordingly,the innovations in this article are as follows:1.Using the extended Kalman filter high-precision fusion attitude calculation algorithm to solve the attitude of the aircraft in real time,the calculated angle error range is within 0.2 degrees.2.The power supply system of the moored multi-rotor craft is designed and verified by experiments.The effect is good,and the aircraft is able to fly for long time.This paper focuses on the research and design of the moored multi-rotor aircraft system and flight control system.Firstly,the flight principles of the moored six-rotor aircraft are analyzed,and on the basis of which,mathematical modeling is established.In the second place,hardware and software design is carried out on the system.In terms of hardware,the structure design and power supply system of the aircraft are introduced.The design of each module of the flight controller is also introduced.In terms of software,the research focuses on data processing,attitude solving algorithm and control algorithm.Finally,the accuracy of the attitude angles calculated by different attitude calculation algorithms is tested and analysed,and the test of the moored multi-rotor aircraft system is performed after the aircraft was commissioned.The experimental results show that the system designed in this paper can run stably for a long time and has good control effect.It meets the design requirements and is promising for application.