The Modeling Of The Quadrotor And The Design Of The Quadrotor Controller

The quadrotor has developed rapidly due to features such as take-off and landing vertically,simple structure,and easy operation.It has been applied in more and more fields such as agricultural plant protection,police patrol,aerial photography,and has great application value.After introduction of the research status and key technologies of quadrotor at home and abroad,the mathematical modeling of quadrotor,the design of PID controller,backstepping controller and ADRC controller is studied in detail.Then a quadrotor flight platform was built to verify the effectiveness of the PID controller.The main research methods,research contents and research results include:Firstly,model the quadrotor,analyze the structure and flight principle of the quadrotor,obtain the dynamic model of the quadrotor and transform its equations into an affine nonlinear model.Secondly,according to the dynamic model of the quadrotor,the PID controller is designed.A simulation model is built in the SIMULINK to verify the effectiveness of the controller via the fixed-point hovering experiment and attitude angle experiment.Thirdly,according to the underactuation characteristics of quadrotor,based on the dynamic model equation and backstepping controller theory of quadrotor,the quadrotor backstepping controller is designed and verified by attitude angle experiment and fixed point hover experiment.The result shows that this control algorithm is effective.Fourth,the basic theory of the auto-disturbance rejection control method is introduced at first.Then the quadrotor auto-disturbance rejection controller is designed based on the dynamic equation of the quadrotor.Through the attitude angle control experiment,it can be found that the controller can effectively achieve the stabilization control of the attitude angle.Then two independent PID controllers are added to the pitch channel and the roll channel in the outer ring to make up a quadrotor controller.The effectiveness of the controller is verified through spot hovering experiments and trajectory tracking experiments.Fifth,Build a quadrotor experimental platform and verify the effectiveness of the PID controller in the actual hardware environment.STM32F407 is chosen as the main control chip,the TPS7333 is adopted as the power chip,MPU6050 is selected as the attitude chip.the remote control signal acquisition circuit,the PWM output circuit,the 2.4G wireless communication interface are designed by myself.Processing,welding and debugging the PCB board is well done,and download the program into the control chip,finish debugging the program well.In the environment,a simple take-off experiment was performed to test the practicality of the PID controller.This article starts with establishing the model of the quadrotor,and verify theThis article starts with establishing the model of the quadrotor,and verify the effectiveness of the PID controller,backstepping controller,ADRC controller in the SIMULINK.Finally,the simplest PID controller is tested in the environoment.