Design Of Flight Control System For Six-Rotor UAV

With its flexible maneuverability,low cost,simple and reliable mechanical structure,and excellent air hovering characteristics,the rotorcraft plays an important role in the military and civilian fields.In the future,the gyroplane will play an increasingly important role in express delivery,mapping,disaster relief,public security,fire protection and agriculture.At the same time,higher requirements are placed on the stability and reliability of the rotorcraft,and the six-rotor has better stability and reliability than the four-rotor.It is even possible to achieve a stable landing with a single motor outage.The six-rotor drone is essentially an unstable system.Therefore,the performance of the flight control system on the six-rotor UAV largely determines the stability of the six-rotor UAV.In this paper,a flight control system is designed for the six-rotor UAV,which realizes the stable flight of the six-rotor UAV.Among them,the main work has been done in the following aspects:First,mathematical modeling of the six-rotor drone.According to the leaf theory,the fixed-coil propeller used in the six-rotor UAV is modeled.The type and working principle of the motor used in the six-rotor UAV are introduced,and the motor is modeled.Combined with the propeller model and the motor model,the six-rotor UAV system was modeled as a whole,and the simulation model was given and verified by simulation experiments.Then,based on the above,the underlying hardware circuit system of the flight controller is designed.The digital control chip adopts the main frequency up to 162 M.The MEMS sensor is used to collect the state information of the aircraft,and the data fusion is performed according to the characteristics of each sensor to estimate the rotor.The various states of the machine.According to the structure of the rotorcraft and the estimated state of the rotorcraft,the PID control law is given,and the correction amount is calculated and sent to the motor for power correction,so as to achieve stable flight of the aircraft.Finally,the above content is implemented in the hardware environment,and the effect of the inner and outer ring PID parameters on the stability of the six-rotor aircraft is experimentally verified.The test experiment and flight test were carried out for the pitch channel,the yaw channel and the roll channel respectively.The six-rotor aircraft showed good stability and reliability.