| In recent years,with the persistents development of industry,the demand for electricity has been increasing,and safe and stable power supply facilities have become particularly important.At the same time,microelectronics technology is also constantly developing,which provides a guarantee for the development of drone technology.Quadrotor UAVs are commonly used in various industries such as power inspection and industrial irrigation.As a kind of under-input control system with four inputs and six outputs,the control system of quadrotor UAV has gradually become a hot spot for research.Therefore,this paper will design and build a quadrotor UAV platform and study its control strategy.The main work carried out in this paper is the following parts:Firstly,the basic body structure of the quadrotor UAV is analyzed in detail,and five basic physical motion states are introduced.Based on the force analysis of the UAV,the nonlinear system model of the quadrotor is constructed by using Newton-Euler equation.Secondly,the overall structure of the quadrotor uav with STM32F407 as controller is presented,and the module components of each part are selected and the circuit diagram is designed,so that the final UAV platform can be built.Again,the software design of the quadrotor UAV system is carried out,and the software flowchart of the main control circuit and the flowchart of the attitude control system are studied.And three attitude angles are selected as the research object to study the attitude control of the UAV,and its nonlinear model is linearized;then the traditional PID and fuzzy PID control algorithm and the improved particle swarm fuzzy PID algorithm,respectively,establish Simulink simulation modelFinally,through the PID control algorithm,fuzzy PID control algorithm and improved particle swarm optimization fuzzy PID algorithm control effect comparison,we can determine the control system using the improved particle swarm fuzzy PID algorithm,which has a faster response speed,smaller oscillation range and better anti-interference ability.According to the flight test of uav,the feasibility of the designed control system is proved. |
