Research On Flight Control Technique Of A Quadcopter With Independently Tilting Rotor

The multicopter with tilting rotor achieves independent control of thrust and torque by tilting the rotor to a separate plane,can track the reference orientation in a confined space,or maintain the level of the vehicle during the air operation,which greatly expands the application scenario of the multi-rotor.In this paper,the flight control technology of a quadcopter with independently tilting rotor(QITR)is studied.The details are summarized as follows:The model of QITR is designed using 3D software.The motor tilt configuration under different desired trajectories is discussed.Then the kinematics and dynamics of QITR are modeled,and the the external force and torque disturbances,parameter perturbation and noise are modeled.Nonlinear control allocation problem is transformed into a linear control allocation problem by variable substitution,and the energy consumption is optimized using Moore-Penrose pseudo-inverse.The linear control method of QITR based on H_?loop shaping is studied.Firstly,the advantages and disadvantages of H_?robust stabilization and loop shaping methods in the design of control law are discussed.Then the design flow of H_?loop shaping control law combining the two methods is given,and the QITR control law is designed.Some numerical simulations are used to compare the control effect of the proposed method with that of the PID.A QITR control law based on RBFNN is designed.Attitude RBFNN terminal sliding mode control law and position RBFNN feedback linearization control law are designed respectively.According to Lyapunov stability theory,the weight updating law of RBF disturbance compensator for position and attitude is deduced,and the control law is proved to be asymptotically stable.The improved PSO algorithm is used to automatically optimize parameters.In this paper,the visual simulation of QITR is realized.QITR ontology model,environment model and controller script are built in dynamic simulation software VREP.The time synchronization problem of co-simulation of VREP and Simulink is solved.The MATLAB script is written to realize the synchronous blocking communication between controller and VREP model.The complete joint simulation scheme is given and verified by experiments.