Design And Implementation Of A New Multi-rotor Aircraft Control System

Multi-rotor type aircraft is a kind of vertical elevator has multiple degrees of freedom with the advantages of simple structure, flexible mobility, c an achieve hover, vertical take-off and landing, etc. In recent years, multi-rotor type aircraft have attracted much attention with the deep research in the theory of automatic control, and the widely application of the micro sensor. Currently many rotor aircraft has been used in the film and TV aerial, f light performance, pesticide, spraying and environmental monitoring and other tasks. At the same time, there is a increasingly load requirements, so that the aircraft can pick up more equipment. The method of increasing load capacity is increase the wheelb ase and the rotor size. However, the corresponding problem is inconveniently carrying, especially during long distance tranportation. Besides, the big rotor under high speed is very dangerous that will cause casualties. In order to solve these problems, we design a new kind of prtotype in this paper. Under the condition of no wheelbase increasing we have got a stronger load capacity. In addition, using different control method to realize simulation of aircraft motion control, and validate the control effects on the prototype.Redesign a five-axis prototype on the basis of the four-axis rotor aircraft. Its characteristic is an additional fifth rotor in the belly of a four axis aircraft. A 3D model of the prototype has been established, the frame processing ma terial is carbon fiber plate, and select platform module to build a corresponding protoype parts.A improved dynamic model is constructed and analyzed in detail, in which some relative parameters, including lift coefficient, torque coefficient, ratio coefficient etc, are established by experiments. And a new simulation platform based on Matlab is set up, in which both of a PD and a backstepping controller algorithm are designed and applied based on a prototype. The simulation results show that the PD control strategy performs better in stability and tractability and the backstepping one responses more quickly.A new flight control system is designed and completed based on the proposed control algorithms in the thesis, which is used in prototype successfully. The result of experiments about the lift force of vehicles in given conditions show that the new designed prototype can provide 21.3 percents more lift force because of the additional rotor at the abdomen of the aircraft.