Design And Development Of Control System On Micro Quadrotor

Quadrotor is a kind of helicopter which has four rotors. At the beginning of20century, there had been several related researches on this topic. At that time, the main target of research is producing huge and practical rotor helicopters. In recent years, with the development of new materials, MEMS, micro inertial navigation technology and flight control methods, people gradually have a research trend on micro quadrotor. It has widely applied prospects in both military and civilian sides. In military side, the main application contains enemy reconnaissance, electronic interference and relay communication. In civilian side, the main application contains monitoring, exploration, rescue and aerial photography.In this paper, the design and development of a control system on micro quadrotor is presented. The main contributions are as follows:the research of control method, the hardware and software design and development and realizing micro quadrotor’s attitude control and altitude control.Firstly, the research of control method is presented. Specifically, the dynamics and kinematics model of micro quadrotor is established. Furthermore, the state space function can be obtained.After that, a double loop control architecture is designed by analyzing the established system model. Then, attitude and position controllers are designed respectively by using PID and integral Backstepping methods.Secondly, according to the design target, the platform of hardware and software on micro quadrotor are given. In hardware side, a kind of three layers airborne control structure is presented. To attain high motion control requirements, project chooses an Embedded control platform base on X86+AVR micro controllers. Several related modules such as power, peripheral board, I/O control module, bus communication and sensor should be designed and produced. In software side, the related sensor drivers, realization of control methods and communication between controllers should be programmed.Thirdly, some related experiments are taken on micro quadrotor. Including simulation experiments and practical experiments, the paper compares the control effect on different control methods. Based on the analysis of experimental results, a simple conclusion can be drawn that the integral Backstepping control method has better performance than PID control method in system overshoot, stability and robustness.Finally, the conclusions of the paper are drawn, and the further research directions are presented.