Research On Control Method Of Attitude And Flight Design About Quadrotor UAV

With the development of modern agriculture in our country,New type of plant protection technology which represented by UAV is gradually being widely used.The UAV is the platform for the quad-rotor plant protection UAV which is equipped with medicine cabinet and spray device and used for agricultural and forestry plant protection.At present,due to the simple structure,high mobility,easy operation,working efficiency and etc.Mainstream plant protection UAV are dominated by four-rotor drones.In particular,it is the classic rotor UAV structure.The production and maintenance costs are low,and have broad market prospect and application value.Because of its simple structure,it has less stable performance compared with other multi-rotor UAV.So when working in the complex environment and terrain,it is vulnerable to random disturbance,which affects the height and attitude stability.Firstly,this paper introduces the background of the project and puts forward the existing problems of the agricultural plant protection UAV.Then it summarizes the research status and development of UAV in domestic and abroad,and summarizes the previous modeling and control methods.This paper presents a solution to the status of UAV height and attitude instability,and explains the main research contents.Then,this paper introduces the flying principle of four-rotor UAV and according to the function of the plant protection UAV to design circuit schematic diagram and make cloth board,wiring and components welding to complete flight control board.On the basis of this,the flight control system is completed by software programming and system debugging is carried out to obtain satisfactory experimental results.Afterwards,the configuration of the four-rotor UAV attitude data is introduced,and the data of the feedback attitude data are analyzed in the spectrum analysis to design the appropriate filter to remove the interference and obtain the good attitude information of the waveform.On this basis,the attitude solution and the height calculation are carried out to obtain good posture feedback.In addition,the X-type structural of the plant protection UAV are systematically modeled,the moment of inertia of the body is calculated by the frame parameter,and the relationship of the voltage speed is determined by experiment.The system which lift coefficient and torque coefficient cannot be directly measured need to be identified,the ultimate UAV model is obtained.On this basis,the simulation experiment is carried out and the control parameters are taken as the adjusting parameters of UAV to test flight,and good experimental results are obtained.Finally,for the quality change of plant protection UAV to calculate liquid spraying speed estimate the actual quality,maximum eliminate the influence of the body quality change on control and then for UAV model structure design the Backstepping controller.Because the plant protection UAV is also subjected to random interference in the high direction,the wobble of the tank and the wind interference can also destabilize the posture.Considering the problem of Backstepping method is not good for random interference,the adaptive method is introduced to compensate the controller.The controller is timely compensated by real-time estimation of disturbance,to make the system have good anti-interference performance.