Research On Control System Of Quadrotor Uav Based On MEMS

Multi-rotor UAVs have been widely used in civil and military fields,playing an extremely important role,and have intelligent functions such as vertical take-off and landing,fixed-point hovering,and self-planning routes.The accurate detection of the flight attitude of the multi-rotor UAV is a prerequisite for precise control,and also determines the quality of the multi-rotor aircraft to complete the mission.The accuracy based on multi-sensor detection is poor,especially in complex environments,the detection error is very large,and the detection results cannot be used.It is especially important to improve the detection accuracy of the UAV's flight attitude for the precise control of the UAV.The multi-rotor UAV system is a classic multi-variable,underactuated,time-varying and other related characteristics,and has some characteristics such as strong coupling and high robustness.With the wide range of applications of drones,very strict requirements are imposed on the flight of UAV control systems in complex environments.Therefore,it is of great theoretical and practical value to improve the control accuracy of UAV.This paper studies the multi-rotor UAV control system based on MEMS sensors.The main research work is as follows:1.The construction of the flight experimental platform provides the basis for the study of navigational attitude measurement and flight control.The data acquisition and calibration methods for multi-rotor UAV MEMS sensors are studied.The data of each sensor is collected in real time.The data acquisition principle of UAV flight control system is analyzed,and the information collection and analysis are realized.2.Dynamic modeling is carried out.By defining the aircraft coordinate system,the direction cosine matrix is represented by the fixed-axis rotation of the Euler angle.The universal locking problem of the Euler angle is solved by introducing the quaternion.The filtering algorithm is analyzed and DMP is used.The attitude data acquires and solves the attitude,position,and rate information of the drone carrier.3.By analyzing the PID classical controller and fuzzy adaptive PID control algorithm,it is concluded that the differential part of the fuzzy adaptive PID control algorithm is susceptible to noise disturbance.Therefore,the differential part is optimized and added to the first-order filter for MATLAB simulation.Then design the cascade PID drone control system,complete the attitude control experiment and carry out MATLAB simulation experiment.4.Complete indoor hover flight experiments and outdoor hover flight experiments.The experimental results show that the flight attitude control accuracy of the multi-rotor UAV is significantly improved,and the in-depth research and development of the multi-rotor UAV flight control technology has promoted the development of related industries,created economic benefits and strengthened national defense construction.Important theoretical and practical significance.