Research On Attitude Control Of Piston Powered Quadrotor

The four-rotor UAV can use the state change of the four rotors to complete the superdifficult movements such as vertical rise and fall,fixed height,hovering,ultra-low-altitude flight,and flipping.On the basis of the advantages of the ordinary four-rotor drone,the oilmoving Due to its strong endurance and effective high load,the four-rotor has good market prospects and aviation applications,it is undoubtedly a research hotspot,and it has been widely used in weather monitoring,farming and animal husbandry.Relevant results are widely used in meteorological monitoring,farming and animal husbandry operations.Attitude control is the core of the whole four-rotor flight control system.However,in the control process,how to calculate the control quantity with high precision and stability and obtain a more stable attitude has been a hot topic of research.Because the oil-powered drone system is highly non-linear,and the gypo module in the data monitoring of the oilpowered drone has large integration error,and the acceleronmeter part has a relatively large offest in the complex environment of time-varying,and finally as a result,there is an error in the state of the UAV obtained by the sensor module.so the oil movement is acquired.It is especially important to calculate the precise control amount for the dynamic adjustment of the precise attitude angle of the four-rotor UAV.In order to obtain a more accurate attitude angle,this paper designs the filter input to the filter module after the sensor obtains the sampled value.The filtered attitude value is input to the control module to calculate a precise control amount,so that the drone can fly smoothly.This paper first introduces the structure of the four-rotor and its flight principle,and introduces the kinematics model of the four-rotor UAV in detail,which lays a foundation for the design and simulation scheme of the attitude control controller of the four-rotor UAV.In order to solve the problem of large time-varying environmental error of the oilpowered four-rotor,and obtain more precise control,this paper proposes a control algorithm based on adaptive integral back-stepping method and hybrid filtering algorithm,which is applied to the vibration noise.The control system of the oil-driven quadrotor drone.According to the mathematical model of the quadrotor UAV,this paper builds the simulation model of the oil-powered quadrotor UAV in MATLAB/Simulink,and designs the three-control method of integral anti-step method,improved synovial control algorithm and improved algorithm.In the simulation environment of the quadrotor drone.Finally,Matlab's simulink simulation system is used to simulate the control algorithm based on adaptive integral backstep method and hybrid filter algorithm.Furthermore,the integral backstep method,the improved sliding mode control algorithm and the improved algorithm are compared.After simulation experiments,Compared with the control algorithm,the proposed algorithm is superior to the integral backstep algorithm in estimation accuracy and convergence speed,At the same time,accurate and stable UAV attitudes can be obtained in a time-varying environment.