Design Of Control System And Research On Control Method For Quadrotor UAV

Quadrotor UAV is a kind of aircraft, that has four propeller and the four propellerwith a cruciformcross-structure, that by balancing the four rotor generates force toachieve a stable hover and precision flight. It has underactuated, multivariable, stronglycoupled, nonlinear and others complex characteristics, and its research covers variety ofinterdisciplinary cross-integration of high precision and advanced technologyprofessional, such as Manufacturing Technology, Structural Design, MaterialsEngineering, Aerodynamics, Autonomous Flight Control and Navigation, ImageProcessing and Advanced Communication Technology, Energy Efficiency, MEMSTechnology, Sensor Technology and so on. Therefore, the research of the QuadrotorUAV a very far-reaching significance, whether from the point of view of nationaldefense strategy, or from a civilian.This paper according to the Quadrotor UAV as the research object. First of allintroduce key technologies involved in Quadrotor UAV, and structure for the overalldesign, including Mechanical structure, hardware and software architecture design, andBuild a Quadrotor UAV platform. Followed mechanical analysis of the Quadrotor UAV,and establish its dynamics equation based on the actual structure, and get the systemtransfer function, and appropriate to simplify the transfer function for the systemsimulation model. By the third, According to the data acquisition for Quadrotor UAV,and with the way of wireless serial port to send data to the PC, and the Kalman filter isused on acceleration sensor and gyroscope datas fusion, And in LabVIEW to build adata acquisition system, access to raw data and a better attitude of the spacecraft attitudeto integration of data. Fourth based on the Quadrotor UAV system simulation model,with the simulation in Matlab Simulink blocks, respectively PI Control algorithm, PIDControl algorithm and Integral separation PID Control algorithm to point against theattitude loop and attitude-position loop respectively, verify the effectiveness of thecontrol algorithm.Lastly, complete the Quadrotor UAV mooring experiment in a lab environment,verify the feasibility of the designing of Quadrotor UAV control system andattitude-position control algorithm, and submit its views and methods to improve.