Quadrotor Unmanned Aerial Vehicle Design And Realization

In recent years,The UAV(unmanned aerial vehicle)develops very well.Especially for the quadrotor is widely used in many fields.And it can improve the living of people and reduce people labor.Such as anti-terrorism,earthquake relief effort,security monitoring,prevention for forest-fire,environment measurement,high-voltage line inspection,agriculture,movies,internal of things,building,high risk&high work loading filed.Quadrotor has the functions of economic,small size,flexible,quick responsible,high reliability,not affected by takeoff &landing place and it can loiter in the air.The quadrotor the thesis mention is based on PIXHAWK flight control system which has long time cruising ability and autonomous-stable flight ability,and it can perform aerial photography tasks.Firstly,the current research status and development trend of quadrotor are analyzed.Based on the study and research the flight theory,the dynamics and kinematics model of quadrotor were constructed by using Newton-Euler formula,and mathematical model was subjected to small-perturbation linearization.For the unknown parameters in the model were be measured by special designed experiment.Secondly,explicit complement filter(ECF)is used to calculate the attitude data of gyroscope,accelerometer and magnetometer.The quadrotor attitude control loop and position control loop are designed to solve the problem of kinematic coupling constraint by PID controller.The control system is simulated by MATLAB/Simulink and the expected effect is achieved.Thirdly,according to the design requirements,the quadrotor's frame,power system,flight control hardware platform,remote control,camera stabilized platform,camera,data transmission,graph transmission and ground station were designed and made,and the prototype of quadrotor was completed.Finally,through the outdoor flight test,the quadrotor's feasibility and stability of design,related algorithm and hardware are verified and some improvement methods are proposed for some problems found in the flight test.The autonomous and steady flight of quadrotor is achieved.