Design And Research Of Quadrotor Control System

The quadrotor is simple in structure,easy to carry and assemble,and low in cost.At the same time,it has the characteristics of flexible flight,versatile functions.It has obtained in-depth development and application in the military and civilian fields,which has produced huge economic benefits,and this trend is still growing.In this context,the research on quadrotor has important practical value,and the key to the flexible and accurate execution of various tasks by quadrotor is the control system of the aircraft.Therefore,this paper is based on the characteristics that the quadrotor is non-linear,under-driven and strongly coupled,after investigating the research status of the quadrotor at home and abroad and its current main control methods,carried out a series of work on the design,simulation,production,commissioning and field flight experiments of the quadrotor control system.First,this paper introduces two structures and flying principles of a quadrotor,clarifies the conversion method between the two coordinate systems,and lays the foundation for mathematical modeling of the quadrotor.Through the mechanical analysis of the linear and rotary motions of the quadrotor,the mathematical model of the quadrotor is finally obtained.Secondly,based on the analysis of the three control methods of PID,backstepping method and ADRC,the corresponding cascade PID controller,backstepping controller,cascade ADRC controller were designed respectively according to the control characteristics and mathematical model of the quadrotor.At the same time,in order to solve the problems of too many parameters of the cascade ADRC controller,the parameter setting is time-consuming and laborious,and it is difficult to obtain a set of optimal parameter values,an improved particle swarm algorithm is proposed,which is combined with the cascade ADRC controller to optimize the parameters of the cascade ADRC controller and to control the high performance of the quadrotor.The control performance of the three controllers was evaluated and compared by Matlab/Simulink simulation,which proved their effectiveness and the cascade ADRC controller has better control performance than cascade PID controllers.Finally,in order to verify the above PID control method is effective in actual flight,build a quadrotor platform.This article takes APM open source flight control as the center,selects,assembles and debug optimization the hardware of the quadrotor,analyzes the software development tools,code architecture,program flow,etc,and the effectiveness of the PID controller was finally verified by combining the hardware and software and debugging the quadrotor.