Research On Control System Of Quad-rotor Aircraft Based On Multi-sensor Information Fusion

The four-rotor aircraft is simple to operate,inexpensive to manufacture,can adapt to various indoor and outdoor flight environments,and is highly maneuverable,so it has a wide range of applications in both military and civilian fields.With the rapid development of semiconductor electronic technology,control algorithms,and the continuous expansion of the aircraft consumer market,the research on all aspects of quadrotor aircraft has become a hot topic.According to the actual application requirements of the aircraft,this paper designs a stable and usable four-rotor control system to complete the task of multi-sensor information fusion.The research content of this article includes:(1)Establish a mathematical motion model of the quad-rotor aircraft.Combining the relevant knowledge of classical mechanics and aerodynamics,measuring the actual parameters of the physical aircraft,and establishing the mathematical motion model of the quadrotor aircraft in MATLAB/Simulink.At the same time,considering that the four-rotor aircraft will be affected by the disturbance caused by the wind in the actual flight process,the composition factors of the disturbance wind are analyzed here,and the disturbance model formed by the wind field force is established.(2)Design PID-ADRC controller.The performance advantages and disadvantages of traditional cascade PID controllers are analyzed,and the PID-ADRC control method is proposed.Contrast analysis with cascade PID control system.The PID-ADRC controller of this method shortens the control time,has almost no overshoot,and shows better ability to compensate for interference when there is wind interference.However,there are more parameters that need to be adjusted in the controller,which improves labor The difficulty of setting.(3)Design the flight control hardware system.Taking into account the functional requirements of the aircraft flight control system,the STM32F407 series chip is used as the main control chip,ICM20602 is the six-axis motion sensor,and the magnetometer AK8975 is the attitude sensor of the aircraft;the barometer SPL06 and the optical flow LC-306 are used as the aircraft position sensor.Build the aircraft flight control system.(4)Design the flight control software system.Write a C language program to perform information fusion on the original data collected by the flight control system sensors,use a complementary filter algorithm to perform data fusion on the attitude measurement channel and horizontal position measurement channel,and use the Kalman filter algorithm to perform data fusion on the altitude measurement channel,and then Obtain stable real-time feedback data from the aircraft.At the same time,the angular velocity and angle dual closed-loop PID-ADRC control algorithms are programmed to control the aircraft to fly according to user instructions.(5)Use the improved differential evolution algorithm to tune the parameters of the controller.Aiming at the problem that it is difficult to manually adjust the parameters of the quadrotor controller and it is difficult to obtain the optimal control effect,a differential evolution algorithm using a directional search strategy is proposed to optimize the parameters of the quadrotor controller.This method uses operations such as mutation,crossover,and selection to adjust the controller parameters to obtain the optimal individual;then,a directional search strategy is introduced to determine the direction of mutation before the next mutation operation to improve the accuracy of the algorithm.The conclusion shows that: comparing the particle swarm algorithm and the traditional differential evolution algorithm,the differential evolution algorithm with the directional search strategy can make the controller steady-state error smaller and the adjustment faster.