The Test Systems And Self-stabilizing Control For Quadrotors

Quadrotor with four brushless motor control realization 8 kinds flight attitudes.It has a simple mechanical structure,small size,light weight,vertical take-off and landing within a small space,such as flight and hovering.Quadrotor can perform disaster rescue,police chase,aerial,environmental monitoring,etc.with the development of quadrotor in the use of different industries,people have put forward higher request for stable performance of quadrotor,therefore,studying how to improve the stability of the quadrotor has become a hot topic in today's research.In order to overcome the disadvantages of the traditional PID controller based quadrotor cannot consider the actual parameters of the body,the stability of the quadrotor is further improved.,a flight controller based on UIO algorithm is proposed,the UIO controller compared with the traditional PID controller that the UIO controller can incorporate the actual parameters(the torque coefficient of the brushless motor,the pulling force coefficient of the brushless motor and the inertia of the body)of the quadrotor into the dynamic model and the UIO controller can model some modeling,the amount and disturbance are not taken into account and compensated for the estimated exit.The dynamic model of the quadrotor is established,and the dynamic analysis is carried out.In order to get more accurate dynamic parameters of the quadrotor,two sets of test devices are developed,a set to measure torque coefficients of the quadrotor brushless motor,and the other to measure the lift coefficient of the quadrotor brushless motor.According to the dynamic equation of the quadrotor,the quadrotor controller based on the cascade PID and UIO is designed respectively.The simulation model of the controller is established in Simulink,the control performance of PID and UIO controller is verified on the quadrotor and through simulation and experiment analysis and comparison shows that the UIO controller can complete the flight control of the quadrotor,especially in the stable speed,which is significantly higher than the PID controller.