Research On The Flight Control System Of Quadrotor UAV

In recent years,the quadrotor UAV that can vertical lift has become a hot research direction because of its strong mobility,high stability and simple operation.However,the research of quadrotor UAV has significant difficulties in anti-interference ability and nonlinearity,which makes the control system difficult.This paper builds a stable and available flight control system for the practical application requirements of the quadrotor UAV.The main research contents include:(1)Proposing and deriving the quaternion Karman filtering.According to the flight principle of the quadrotor UAV,use the quaternion to represent the attitude angle of the quadrotor UAV.Propose the QKF algorithm which derivates from the extended Kalman filter to fuse the attitude data.(2)Establishing quadrotor UAV motion model.According to the specific structure of the quadrotor UAV,derive the kinematics and mechanical model of the aircraft.By analyzing the overall model of the aircraft system,linearize the model and derive the transfer function of each channel through the state space.(3)Completing the flight control hardware subsystem.Considering the functional requirements of the flight control system of the quadrotor UAV,the STM32F405 series MCU is used as the main control;the 6-axis motion processing component MPU6050,the magnetometer HMC5883 L,and the barometer MS5611 are used as the attitude sensor unit to measure the flight attitude parameters;The nRF24l01 acts as a wireless receiver module.Realized the I2C/SPI communication circuit of each module and the drive circuit of the brushless motor.(4)Implementing and verifying the flight control software subsystem.Use the quaternion to update the attitude,use the QKF algorithm to fuse the data collected by the attitude sensor,then verify effect on the MATLAB.Program C language to realize the angular velocity-angle double closed-loop PID control,Build the simulation structure in Simulink for verification.This part of the content successfully verified the feasibility of using QKF processing data and cascade PID control structure in the quadrotor UAV control system.(5)Complete the visualization simulation experiment.Carry out the visual flight test simulation of quadrotor UAV in MATLAB and Linux environment respectively,which corroborates that the algorithm is effective in this paper again.