Design And Study Of Control Systems Of Quadrotors

Quadrotors is an unmanned aircraft droven by four motors and rotors to achieve vertical take-off and landing, roll, pitch and a series of movements in the air, its main characteristics are high mobility and controllability, simple and novel structure, low manufacturing cost, easy to spot hover, having a broad prospect of application. Quadrotors can be used to reconnaissance and surveillance on the battlefield, especially in the near earth environment, performing some task which soldiers unable to complete owing to the concealment and mobility, even assault enemy targets by equipped with electronic jammers or small weapons. For civilian applications, quadrotors can do search and rescue tasks in the forest, mountain, sea and other complex environment. In industry, it can be used to inspect the roads, bridges, pipelines, power transmission equipment. This not only can reduce the cost, but also improve the efficiency. Therefore, the development and application of quadrotors attracted numerous attentions from scientific researchers.Control systems of quadrotors were designed and built. PID controller and model-free controller were implemented based on the flight principle. The stability and anti-interference ability of two controllers were tested by hovering flight. The main contents of this thesis include:1. A hardware scheme of quadrotors flight control system was proposed according to the task and performance requirements. Appropriate electronic equipment was selected by considering the performance, power consumption, price and other factors, the attitude control system was designed with STM32 as the main controller, gyro sensor, acceleration sensor, altimeters, brushless DC motor was selected as driving mechanism, hardware circuit diagram was designed and quadrotors was manufactured.2. Design of quadrotors control algorithm was the main content of this thesis, two kinds of control algorithm were designed. First, a dual loop structure PID controller was designed based on the simplified dynamic model, with attitude and position control loop. Then, a new design scheme of model-free controller was proposed according to the characteristic that a precise dynamic model is difficult to establish.3. The two kinds of control algorithms were applied on the quadrotors to test the stability of pitch angle, roll angle, height, and the capability of Anti-interference, experimental results show that the two controllers have ideal control effect, and both have their own superiorities.