Research On Control Method And Controller Design For Micro Quadrotor Aircraft

After entering the new century, electronic components and a variety of intelligent hardware begin to flourish and theory of control continuously is improving, it is caught the attention again to quadrotor after solving many technical bottlenecks. Quadrotor is highly flexible,low cost and small to easily carry. In recent years, the load capacity and endurance of quadrotor has gradually improved and quadrotor with a HD camera and other sensors has been widely used in movie aerial photography, wildlife protection and so on. However, the control system of quadrotor is under-actuated and unstable. To control quadrotor steadily, the design of its control system is necessary.The structure and flight principle of the quadrotor is introduced in thesis. Dynamic mathematical model of quadrotor is established in the assumption of ignoring the body deformation and other secondary factors. A hardware platform is chosen to acquire the flight parameters, and simulation research of quadrotor control is with these flight parameters through the software simulation platform. Quadrotor control system is decomposed into three subsystems: flight altitude, flight orientation and body balance. Each subsystem is controlled by the traditional PID controller and every subsystem is simulated in Simulink.The limitations of PID are analyzed based on special flight control of quadrotor. Active Disturbance Rejection Control(ADRC) is adopted aiming at these limitations. Tracking Differentiator(TD) is designed to arrange the transient process of controller input; Extended State Observer(ESO) is designed to regard the unknown part of the model and external noise as a total disturbance; Nonlinear State Error Feedback Law(NSEFL) is designed to attenuate the tracking error.The parameter tuning of NSEFL is improved by the fuzzy optimization algorithm. Fuzzy Parameter Optimization Active Disturbance Rejection Control(FADRC) is designed after determining the fuzzy input and output, fuzzy fields and membership function. Quadrotor is controlled with the FADRC controller. And anti-interference ability of FADRC controller is tested. The simulation results show that FADRC controller remains excellent control performance in terms of dynamic performance index, tracking ability and anti-interference performance.