The Attitude Control System And Control Method Of Quad Rotor

Quad-rotor robot research has more than100years both at home and abroad, in recent years, with the development of artificial intelligence technology, sensor technology and modern control theory, Quad-rotor has developed into a robot that can take off and land vertically, move flexiblely, be capable of remote control or fly autonomously and perform complex tasks, which plays an increasingly important role in military and civilian, so the quad-rotor robot has broad application prospects. However, due to the quad-rotor robot is a nonlinear, multi-variable coupling system which is underatuated, there are many problems to be solved in hardware design, software programming and mechanical structure. Quad-rotor robots become a hotspot in scientific field research.The paper uses the quad-rotor robot built in laboratory as the platform, works on hardware circuit design, software programming and algorithm simulation.Firstly, set up four rotor robot hardware platform, including the "X" type,"十" type, and "I" type experiment platform.Secondly, Complete the design of four rotor robot hardware system which includes five subsystems such as the power supply and conversion subsystem, central processing subsystem, wireless communication subsystem, data storage subsystem and sensors subsystem, motor drive subsystem.Thirdly, based on the character of dynamics of quad-rotor robot,we build its simple mathematical models.Fourthly, based on the open-source Arduino of quad-rotor robot platform, I study its program, PID algorithm control.Finally, based on the laboratory four rotor robot platform of "I" type structure, aiming at the uncertainty and complexity of its dynamic parameters, an adaptive synovial controller is designed in MATLAB to verify the stability and reliability of the algorithm.