Research On Four Rotor Aircraft Controller Design Based On Particle Swarm Parameters Optimization

In recent years,quadrotor aircraft application scope is enlarging and brings great convenience to people's lives.Due to the special coupling between the aircraft,the attitude of quadrotor aircraft can directly affect the change of position.Therefore,it is very important to study the attitude of quadrotor aircraft in order to make the steady flight of quadrotor aircraft.In this thesis,the attitude control of quadrotor aircraft is studied.Quadrotor aircraft dynamic mathematical model firstly is established by Newton Euler's.Quadrotor aircraft dynamic mathematical model is decoupled to gain a simplified mathematical model,and this part mainly focuses on the quadrotor aircraft whether can reach the given angle value or height control effect.Then,the attitude of the aircraft is divided into two parts,and the transfer function of each attitude angle is obtained by Laplace transform.After that the parameters of the two controllers are optimized by particle swarm optimization algorithm.The main contents of this thesis include the following aspects:(1)Quadrotor aircraft is regarded as a rigid body,and the body coordinate system of the quadrotor aircraft is established based on the ground coordinate system.Then,based on the Newton Euler theorem,the simplified mathematical model of the aircraft dynamics is established.(2)The dynamic mathematical model of the quadrotor aircraft is decoupled,the PID controller is designed and the disturbance is added to verify the robustness of the designed controller.(3)A fractional order PID controller is designed based on the fractional calculus theory,and the control results of the controller are compared with those of the PID controller.The fractional order PID controller combined with fractional calculus theory is superior to the PID controller in terms of control performance.(4)Owing to the parameters of the PID controller and the fractional order PID controller are difficult to be adjusted in the practical application,particle swarm optimization algorithm is used to optimize the parameters of the PID controller and the fractional order PID controller.Due to the PSO algorithm is easy to fall into local optimum or premature phenomenon,on the basis of PSO algorithm introduces a new PSO algorithm which is called NL_CFPSO algorithm.The simulation results show that the NL_CFPSO algorithm has a significant improvement on the global optimization and control performance of the attitude control of quadrotor aircraft.