Research And Application Of Height And Attitude Control Of Quadrotor Drone

With the development of MEMS(Micro Electro Mechanical System)technology and computers,quadrotor drones have developed rapidly.At present,the sensors used for the measurement of the height and attitude of the four-rotor UAV are mostly susceptible to the external environment,the accuracy is not high,and the stability of the control is difficult to grasp.In this paper,the research and design of the height and attitude control system of the quadrotor UAV is carried out for the problems of the height,drift and airflow disturbance of the quadrotor UAV in the altitude and attitude flight.Firstly,based on the problem that the quadrotor drone is drifting in high altitude,based on the qualitative analysis of a single barometer and accelerometer can not obtain accurate measurement data,a Kalman algorithm based barometer is studied and proposed.The method of fusion with accelerometer data is applied and the application method is verified by simulation.Secondly,aiming at the up-and-down floating problem during hovering,a high-level cascade control system is designed,in which the merged height value is used as the outer loop feedback value of the high-level cascade control system,and the merged Z-axis acceleration is used as the height cascade.Control system internal loop feedback value.The designed high-level cascade control system was verified by hovering actual flight at different altitudes,and the designed high-level cascade control system effectively enhanced the stability of the hover.Finally,for the problem that the attitude of the four-rotor UAV is disturbed by the airflow,a reasonable solution is proposed:1)Due to the temperature drift of the Gyro MPU6050 sensor,the accelerometer is affected by the carrier vibration,and the flight attitude measurement is not very accurate.In order to improve the accuracy of attitude measurement,a method based on Kalman algorithm for combining gyro MPU6050 and accelerometer data is studied and proposed.The reliability of the method is verifled by simulation on the host computer.2)In order to further improve the attitude flight performance of the four-rotor UAV,based on the original cascade PID control of attitude control,the fuzzy control is applied,the PID parameters are adjusted online,and the actual flight comparison verification is used to obtain the fuzzy control.The ability of the quadrotor UAV attitude control system to effectively resist interference is effectively improved.The paper carried out the actual flight verification on the correctness and applicability of the proposed method in the height and attitude of the quadrotor UAV.The proposed algorithm and control method satisfies the height of the quadrotor UAV.And attitude control performance requirements,the research results have certain scientific research and market application value.