Research And Application Of Control Algorithm For Micro Quadrotor Aircraft

Since micro quadrotor aircraft has simple structure,flexible operation,and has the characteristics of take-off and landing,high stability and so on,so it can adapt to the complex external environment.it is used in search and rescue,mapping,crisis monitoring military and civil fields more widely.At the same time,in view of the aircraft itself is nonlinear,strong coupling and underactuated characteristics,it become a typical controlled object in the control field.This paper conducts in-depth analysis and research on the aircraft using a variety of control methods,which is validated by simulation and actual flight.The main research work of this paper is as follows:Firstly,the mechanical structure and control principle of quadrotor aircraft are introduced,and the coordinate transformation between navigation system and machine system is deduced.According to the knowledge of mechanics,the dynamic model of the aircraft is established and simplified the model under the relevant assumptions conditions.It has laid the foundation for the subsequent algorithm.Secondly,the quadrotor aircraft system is decomposed into full drive subsystem and underactuated subsystem.Using the inversion control and variable structure sliding mode control theory,the control law is designed for the twot subsystems.The simulation system of the micro quadrotor aircraft is built by Simulink,and the feasibility of the method is verified by simulation experiments.Thirdly,for the problem that the quadrotor aircraft is unknown and uncertain in the real environment,an adaptive inversion sliding mode controller is designed.Through comparative experiments to analyze the advantages and disadvantages of the above two controllers,it is concluded that the latter is better than the former in regulating time and response speed.In addition,the aircraft in the process of stable flight coupled with the signal to give interference,analysis of its anti-jamming capability.Finally,taking into account the navigation problem of quadrotor aircraft in the absence of GPS signal,the vision sensor is added to the vehicle system.The experimental platform of the micro quadrotor aircraft is built,the image information is acquired by the camera and the optical flow block matching method is adopted to obtain the horizontal position information of the aircraft.The current attitude information on the aircraft is refused and the experiment of the autonomous flight of a micra quadrotor aircraft based on visual aids is completed.