Intelligent Control And Track Tracking Of Four-rotor Unmanned Aerial Vehicle

Four rotor aircraft is composed of rotor,blade,flight controller and navigation system.It can achieve vertical take-off and landing,hover,roll and pitch in the 3d air.It has a series of main features,such as single structure,low manufacturing cost,easy to implement and the like.Besides,it contains a huge application market.In the military field,it can quickly finish reconnaissance and monitoring task in the real battlefield.Its excellent maneuverability and concealment can easily complete the task that ordinary soldiers cannot accomplished,even direct attacks the main targets of enemy.In the civil field,it can be used for forest fire,search and rescue,aerial photography and power inspection.In this paper,PID control algorithm is adopted to design the control system of four-rotor aircraft.And the relevant parameters of PID control algorithm are adjusted by the neural network algorithm automatically.The navigation system of four-rotor aircraft is designed by extended kalman filtering algorithm,and the method is adaptive and stable by MATLAB simulation platform.The paper mainly includes the following contents:(1)With the requirement of controlling four rotor aircraft for real-time monitoring,the paper composed of 4G module,RUDP protocol and AES encryption to send message between four-rotor aircraft and the ground station.It can send the relevant data of the real-time flight record through 4G module safely and steadily,which is saved and send by the ground station.(2)The PID control algorithm is widely applied to the industrial level of control,but the adjustment of parameters requires a correct decision based on the experience of the operators.It’s result is lower sensitive to the environment.In this paper,the neural network algorithm is used to combine the BP neural network with PID controller.It can automatically adjust the relevant time parameters,which is adaptive and robust.And genetic algorithm and particle swarm algorithm are used to optimize the BP network.The result is simulated.(3)For the navigation system of four-rotor aircraft,this paper adopts the strap-navigation system,which is composed of MEMS accelerometer,gyroscope,GPS positioning and pneumatic device.In this paper,the extended kalman filter is applied to the navigation of four rotor aircraft.And the result is produced the relevant simulation experiments.