Rsearch On Modeling Simulation And Control Of Quadrotor UAV Based On SimMechanics

The quadrotor aircraft also called Unmanned Aerial Vehicle(UAV)is a typical rotor-type drone that integrates strong-coupling and non-linearity characteristics.At present,the research on UAV mainly includes system structure design,model building,control algorithm and path planning.As a under-actuated nonlinear system,the UAV system is vulnerable to external environmental factors in flight.It is difficult to build an absolutely accurate mathematical model of the UAV.In the construction of the UAV system model,the Newton-Euler method is used to establish the kinematics and dynamics model of the six-degree-of-freedom.In the process of building the UAV model,it is necessary to assume some constraints and simplify,then the kinematics and dynamics model of the UAV is obtained.In order to solve the complex mathematical model derivation problem of UAV,this paper proposes a new method that uses the Matlab/SimMechanics tool to transform the three-dimensional physical model of the quadrotor UAV into a Simulink simulation model that can be used for simulation analysis.The Matlab/SimMechanics greatly simplifies the complex mathematical model derivation compared to the way of the Newton-Euler method.Aiming at the problem that quadrotor UAV is easy to be affected by external interference in the flight process,this paper studies the fuzzy PID control algorithm,and applies the fuzzy PID control algorithm to the posture control of quadrotor UAV,and carries out simulation analysis and experimental verification.The main tasks to be done in this article are as follows:1.Building a four-rotor UAV mathematical model and SimMechanics model.Firstly,it is necessary to introduced the structure and working principle of the four-rotor UAV.On the basis of reasonable assumptions and the force analysis of the four-rotor UAV,then,deriving the mathematical model of the four-rotor UAV system based on the Newton second theorem and the Euler equation.Through the use of the SimMechanics tool,the 3D physical model of four-rotor UAV is transformed into the simulation model,then the advantages and disadvantages of the two modeling methods are compared.2.Discussing the attitude control algorithm of quadrotor UAV.Firstly,severalfour-rotor UAV posture control algorithms are compared.Then this paper described the principle of fuzzy PID control algorithm and established a fuzzy PID controller.The fuzzy PID controller is imported into the Simulink model.In the simulation model of UAV,the control effect of fuzzy PID control of quadrotor UAV posture control algorithm is simulated.3.Building a four-rotor UAV experimental platform.In order to verify the accuracy of the experimental model and the control effect of the fuzzy PID control algorithm in the four-rotor UAV,this paper built a a four-rotor UAV experimental platform.The construction process,hardware design and software preparation of the quadrotor UAV experimental platform are introduced and explained in detail.4.Experimental results and analysis.The fuzzy PID control algorithm is used to control the UAV,and several sets of actual flight missions are performed.The actual flight data is compared with the data of the simulation model,and the correctness of the model and the stability of the fuzzy PID control algorithm in the posture control of the quadrotor UAV are verified.