Study On Design And Attitude Control For Quadrotor UAV Control System

In recent years,due to its simple structure,easy handling,and flexible attitude change,quadrotor gradually applied to various filed and entered people’s field of vision.A stable and reliable filght control algorithm is of great significance for ensuring the safe flight of the quadrotor.Therefore,this paper uses Padé approximation to optimize the fuzzy attitude control.According to the flight mode of the selected quadrotors,a mathematical model of the quadrotor was built.The basic sensor module and interface of the flight control hardware system are designed for the quadrotor control system.What’s more,the butterworth filter is designed to filter the sensor data in order to improve the accuracy of attitude calculation.The attitude calculation algorithm based on quaternion differential equations is used to obtain accurate attitude information;For the FLC attitude control algorithm introduces the high computational complesity and its stability has not been proved in very few situations problems,the FPC algothm was introduced into the quadrotor attitude control system for the first time.Fuzzy singleton rules,which are derived from fuzzy rules construsted the rules based on the FLC,are brought into the least squares to determine the unknown parameters in the Padé approximation to obtain the FPC.By system simulation,the stability control of the quadrotor attitude was achieved.The simulation results show that for multivariate,underdrive,strongly coupled and nonlinear quadrotor attitude control system,the FPC attitude control algorithm is designed to compared with the FLC,not only the former has better performance in various indicatos,but also takes about 50 times faster than the later.Experimental results show that the designed sensor model,filter and attitude calculation algorithm can reflect the attitude information of the quadrotor accurately.For the attitude control of quadrotor,the designed FPC attitude controller has less impact on the system than the FLC,which stability is considerable and adjustment rang is wide.And attitude stability experiment powerfully verifies the validity and feasibility of the FPC attitude control algorithm.