Design Of Control System Of Micro Quadrotor For Bridge Detection

With the continuous enhancement of comprehensive national strength,the development of my country’s bridges has achieved world-renowned achievements,but behind the prosperity of the group,more and more security problems have also emerged.At present,nearly half of the bridges in our country have entered the aging period and are prone to disease.At present,the inspection of bridges is mainly completed by manually using bridge inspection vehicles or telescopes.This traditional inspection method is time-consuming,labor-intensive and extremely inefficient.,There are a large number of blind spots in the detection,and the personal safety of the staff is also endangered.The use of quad-rotor aircraft to complete the bridge detection work can just make up for the shortcomings of traditional methods.Therefore,the thesis chooses to study quad-rotor aircraft and designs a miniature quad-rotor aircraft control system for bridge inspection,which can greatly improve the inspection efficiency and has a good engineering application prospect.The hardware platform of the micro quadrotor was researched and designed,the various modules were analyzed,and the physical object was built.Based on the Newton-Euler equations,the mathematical model of the quadrotor was established,and the combined wind field was added as an external disturbance to carry out the design research of the flight control system controller.On the basis of the PID controller,the active disturbance rejection controller and its linear form are derived,a variable structure linear active disturbance rejection controller is designed,and the design of the cascade controller for the quadrotor is completed.The feasibility of the designed controller is verified by simulation experiment.In the development of the quadrotor autonomous patrol inspection system,Taking into account the interference of the sensor under real conditions,a limiter weighted sliding average combined filter was designed to achieve smooth output of sensor data.In order to allow the quadrotor to accurately obtain its own real-time position coordinates,combining the advantages of SINS and GPS,a loose integrated navigation scheme is adopted,and the data of the two are fused through the Kalman filter.Four functional modules were designed for altitude control,autonomous take-off,autonomous flight patrol,and autonomous return and landing,and they were mounted on the hardware platform of the micro quadrotor to establish an autonomous patrol inspection test system.The effectiveness of the system is proved by the fixed height control experiment and the simulated inspection experiment,and it can be used to perform bridge detection tasks.