Study On Design And Control Method For Mini-quad Rotor UAV Control System

Quadrotor attracts people’s attention for its excellent flight performance and low price.It has great practical value in many aspects of production and life and shows its uniqueadvantage in military. Lots of scholars are dedicated to the study of quadrotor. Although anumber of research results have been achieved, there are still many unresolved issues.In this paper, the research work is focused on the attitude control of the quadrotor.This paper introduces the quadrotor’s development, significance of research, and researchsituation of domestic and foreign at the beginning. A mathematical model of a quadrotorwas made. Through the analysis of quadrotor’s dynamics character, its kinetic model isderived from the aspects of linear movement and angular movement. In accordance with therequirements of the design, the kinetic model is simplified at the situation that the pitchangle and roll angle are zero when quadrotor is at the hovering state.Classic PID control and fuzzy PID control are chosen as the control algorithm tocontrol the flight system and contrast the control effect. As Fuzzy PID control is a kind ofintelligent control combining the advantages of classic PID control and fuzzy control, it isapplied to the control of nonlinear system like quadrotor. PID controller and fuzzy PIDcontroller are designed by using MATLAB/simulink. The result of simulation is given.A test platform for quadrotor and a flight control board(made by myself) were made inthis paper. They are the core of the quadrotor including microprocessor module, datacommunication module, and inertial measurement module. These modules work together tocontrol the quadrotor. Inertial measurement module is made up of gyro sensor,accelerometer sensor, electronic compass sensor and altimeter sensor. The accelerometersensor is used to compensate the temperature drift produced by the gyro sensor, thereby theaccuracy of the measurement will be improved. In order to improve the attitudemeasurement accuracy, acceleration sensor was introduced particularly to compensatetemperature drift produced by the gyro sensor.In the end, this paper introduces hovering flight experiment of the designed quadrotor.The control method is a combination of manual and automatic control in the condition oflimitiong three degrees of quadrotor in the linear motion. The contorl metholds of PIDcontrol and fuzzy PID control are be tested separately. The experimental results shows thatthe quadrotor controlled by fuzzy PID controller can fly more stable than controlled by PIDcontroller.