Research On Target Tracking Control Method For Quadrotor

Quad-rotor aircraft has attracted more and more attention due to its simple structure,vertical lift,easy maintenance,good conceal ability and good load capacity.It is widely used in many fields,such as agriculture,military investigation,power patrol inspection,fire monitoring,express transportation,video entertainment,etc.With the wide development of the application of quad-rotor,there are new requirements for its control accuracy and breadth.In this thesis,the control method and target tracking of QBall2 quad-rotor are studied.The main work is as follows:Firstly,the research status of the quad-rotor and its control technology at home and abroad are summarized,the main components of the quad-rotor are introduced,the flight principle is analyzed,the mathematical model is established,the double closed-loop control strategy is designed,and the Quanser experimental platform required by QBall2 is introduced.Secondly,several common control methods of quad-rotor aircraft are introduced briefly,and the advantages and disadvantages of the control methods are analyzed.The controller is designed in double closed-loop mode.For the sake of safety,the design method of bounded controller is proposed for the inner loop,and the observer design based on Super-twisting algorithm is proposed for the quad-rotor which is easy to be affected by external interference.The simulation results verify the effectiveness and better control performance of the control method.Thirdly,combined with the control strategy of moving target tracking,the designed control algorithm is applied to the moving target tracking system of quad-rotor.The control system of tracking intelligent vehicle is improved by using sensor fusion technology and network transmission technology.Through the visual analysis of the simulation results,the effectiveness of the proposed control method for target tracking is verified.The process of parameter adjustment and system tuning in the simulation process can provide some methods and experience for the later experiment.Finally,the control performance of the quad-rotor is analyzed on the Quanser platform.Based on the position control experiment of quad-rotor,the experiment of tracking intelligent vehicle is carried out.Through the comparison with the experimental results of PID control system,we can verify the rapidity and stability of the proposed control method applied to the tracking strategy,and the applicability of the improved scheme.