Modeling And Control Algorithm Design Of Multi-rotor Air-ground Load Platform

Unmanned platform plays a very important role in geological exploration,rescue and rescue,agricultural mechanization and logistics,It has no air-ground amphibious exercise capacity loading platform,with its terrain adaptability,long life and other advantages,the growing importance of domestic and foreign researchers.At present,research on land and air amphibious load platforms is still in the initial stage,and normative design standards have yet been formed.The existing amphibious load platform products are mostly used in the military field,and the acquisition of research data is difficult.Domestic research on land and air amphibious load platforms started late,especially the research on amphibious platform control systems has a large gap with foreign countries.In this paper,a small-scale air-to-air amphibious platform is designed and studied,and its control algorithm is studied.Its content will provide practical application and theoretical reference for the research of unmanned carrier platform.The main research contents of this paper are:(1)This paper analyzes the practical value of the unmanned cargo platform,investigates and analyzes the domestic and international research status of four aspects,such as large amphibious platform,small amphibious platform,multi-rotor UAV platform and ground cargo platform,and proposes land,land and amphibious unmanned cargo.(2)According to the use environment,the basic condition parameters of the prototype were set,and the fuzzy comprehensive evaluation index system was used to analyze and design the basic structure and verify it through experiments.(3)The system coordinate system is determined.For the two-coordinate system,the conversion relationship equation between the coordinate systems is calculated using the quaternion method,and the equation of motion of the platform is determined.Based on the transformation relation equation and the motion equation,the state equation of the platform motion attitude is given,and its system transfer function is determined.(4)The control rate is designed by using the classical PID algorithm and the backstepping method respectively,and the quaternion conversion relationship is used in the design of the backstepping control rate.The two control rates are simulated by MATLAB/Simulink.The comparison of simulation data proves that the control efficiency of the backstep method has stronger stability and practicability,and the control rate of the backstep method is determined.The power and relationship under different working conditions are analyzed and calculated,and the land and air amphibious load is given.The basic principles of platform power allocation strategy.(5)Based on the Pixhawk control board,the required control program was designed and programmed,the quaternion attitude calculation process was planned,and the hardware platform was built.The balance checker of the prototype was designed and built,and the prototype was hardware.The platform's balance check and control check;the results show that the built unmanned platform prototype can meet the functional requirements of the task.