Study On The Effect Of Ground Effect And Control Parameters On The Performance Of Multi - Rotor UAV

Multi-rotor UAV in recent years because of its popular degree has become a hot topic of major colleges and universities, mainly in the control algorithms and external hardware, while few people care about its ground effect. In this paper, it is combined with the principle of PID control algorithm to study the ground effects of multi-rotor UAV and verified by flight tests.In this paper, it is determined that the Multi-rotor UAV by selection is X-type quad-rotor UAV, then making a simple analysis of the principles of flight and simplifing conditions for mathematical modeling and dynamic modeling, followed by quad-rotor UAV hardware and software design, schematics and PCB drawing, at last completing UAV test platform by hand soldering、 assemblage and flight test.Using the builded platform for the analysis of control parameters impact on the flight performance, mainly reflected through the roll angle、pitch angleθ、yaw angleψ and height control, followed by matlab simulation to obtain the optimal control parameters then validated by flight test. The flight has often been affected by ground effects, in last chapter, after the analysis of the ground effect then tested flow field of ground effects through PIV test system and validated through flight tests, the results validate the feasibility of this test platform and test methods.It can be found from the research of ground effects in the range of 3 times of the rotor radius to the ground, lift coefficient of rotor change rapidly. PIV system flow test shows that when rotor wake arrests by the ground, velocity rises sharply, vorticity also increases accordingly.