Research Of Trajectory And Moving Target Tracking Control For A Quad-rotor Aircraft

Because of the advantages of vertical take-off and landing, autonomous hovering and flexible control, the quad-rotor aircraft has been widely used in military, industrial production and life. With the expansion of application, the requirement for its control precision is higher and higher. Especially in the indoor environment, the value of the application is often decided by the control precision. In this paper, the research work is focused on the attitude calculation, trajectory tracking and moving target tracking of the quad-rotor aircraft. The main work of this paper is as follows:Firstly, this paper expatiates the quadrotor’s key technologies and research situation of domestic and foreign. The system composition and flight principle of the aircraft are analyzed. According to the characteristics of nonlinear, strong coupling, multi variable and under actuated of quad-rotor aircraft, the dynamic model of the quad-rotor aircraft is established, which is combined with the moving state of the aircraft.Secondly, the program design of the quad-rotor aircraft trajectory tracking system is carried out. And the trajectory tracking experiment platform is set up, using spatial 3D motion capture system to feedback the position of aircraft. Aiming at the problem of attitude calculation of the aircraft, we use Kalman filter to calculate the attitude of the aircraft. PID and fuzzy PID controllers are designed to control the attitude and the positon of the quadrotor aircraft. The experimental results show that the aircraft can fly according to a predetermined trajectory steadily and the fuzzy PID controller has higher control precision.Finally, the moving target tracking system is designed on the basis of the trajectory tracking system of quad-rotor aircraft. The system consists of ground control center, quadrotor aircraft, ground mobile robot and spatial 3D motion capture system. A program has been designed and utilized to achieve aircraft’s tracking for ground mobile robot in the case of unknown ground moving robot trajectory. The experimental results further show that the fuzzy PID controller has better control characteristics.