Design Of Control System And Research On Control Method For The Quad-Rotor

Quad-Rotor is a kind of multi-rotor vehicle which can take off and land vertically. Especially, it is fit for the tasks of surveillance and reconnaissance in the near ground environment and it has widely application in military and civil.Aimed at the problems of attitude argument control of the Quad-Rotor made by National University of Defense Technology, the follow issues are researched:First, based on the thought of the modular design, the Quad-Rotor flight control system is designed and realized, and rotor servo control subsystem, sensor subsystem, wireless communication subsystem are included in it. Meanwhile a Quad-Rotor experiment platform is designed and built.Second, according to the flight principle of Quad-Rotor, dynamic model is built via Newton-Euler formulation, and Quad-Rotor attitude control algorithm is researched based on FSMC theory. The simulation result validates the efficiency of the algorithm, and on the platform, the Quad-Rotor attitude argument control is realized based on the algorithm.Last, to overcome the demerits of the FSMC algorithm, PI-AFSMC principle is applied to Quad-Rotor attitude control algorithm, and a new attitude algorithm is presented that combines TD with PI-AFSMC. The simulation and experiment results show that the new algorithm takes better effect than the FSMC algorithm does.