The Design And Realization Of The Formation Platform Of Quadrotor Aircraft

In recent years,with the rapid development of science and technology,UAVs,represented by intellectualization and innovation,are gradually integrated into various social fields such as agricultural plant protection,electric power detection,civil photography,aerial mapping and meteorological monitoring.However,due to the limitation of energy consumption,weight and size,a single UAV can not complete some complex and large-scale tasks,while multi-UAV cooperative work can achieve task differentiation and parallel processing,so that each UAV can only complete the established local tasks.This distributed multi-agent formation control system has become a new research hotspot in universities and research institutes.As an important branch of UAV,quadruple-rotor aircraft,especially in formation control field,has attracted more and more attention of researchers.Current research mainly focuses on formation formation formation and maintenance,formation switching,path planning and so on.The main methods of multi-agent cooperative formation include following the navigator method,behavior-based method,virtual structure method,artificial potential field method and so on.In this paper,the formation control algorithm based on single-four-rotor stability control is studied.Firstly,the structure and principle of the Four-rotor aircraft are introduced,and the mathematical model of the Four-rotor aircraft is established.Then modular design of the Four-rotor hardware system is carried out,and the software design scheme of the flight control system is given.The multi-sensor information fusion and the double closed-loop PID flight controller are used to complete the stability control of a single Four-rotor aircraft.The formation control of Four-rotor aircraft is realized by using relative deviation distance and relative deviation angle.In this paper,the description of the position of each Four-rotor is given,the space motion model is established without considering the dynamic model,and the Formation-keeping controller is designed by using the improved PID control algorithm,so that the Four-rotor can maintain the formation stability in formation flight.In order to verify the feasibility of formation algorithm,a distributed control system is established by combining NRF24L01 P with ground station,using two self-designed Four-rotor aircraft as hardware platform and C# ground control system as software platform.Finally,Four-rotor data fusion and flight control experiments are carried out,and the experimental results are analyzed.Four-rotor formation trajectory tracking experiments are designed,and the control effect is analyzed to verify the feasibility of the formation algorithm.