The Research Of The Quadrotor UAV Controller Based On Dada Fusion

The quadrotor UAV is widely used in the fields of military and civilian for its characteristics of vertical taking-off and landing, hovering designated that other aircrafts can not complete, which has gradually become the focus of international research and favored by researchers. There is a great challenge to the micro-processor, the navigation, the body design, the multi-sensor and the control algorithm to achieve system stability and reliability. Therefore, the research on the quadrotor UAV provides with an convenient and effective platform to the development of the navigation, the multi-sensor and the control algorithm, so it owns a bright prospects.Based on the description of the research status and application prospect of the aircraft, this paper expands the analysis of multiple control algorithms. And for its unique characteristics, the study focuses on the mathematical model, nonlinear controllers and data filtering of the aircraft. The followings are the research contents and the main work of this paper:(1) Establishing the quadrotor UAV kinematics model: Regarding the aircraft as a rigid body, the key force and moment that affecting the movement of the quadrotor are selected, then the state equation of the system and the mathematical model of the motor rotor are derived by the Newton Law and Euler Equation.(2) Designing the controller of the quadrotor UAV based on the Backstepping method: There is a brief description of the approach idea and the derivation process of the Backstepping method. Based on the double-loop control structure, according to the mathematical model previously established, the Backstepping method is improved. A quasi-sliding mode backstepping method is proposed. Then the data filtering process of multi-sensor is described. Comparing to the typical PID control method by simulation experiments.(3) Designing the hardware of the quadrotor UAV: Including the selection of the devices and the design of the circuit. In this paper, the main controller chooses the STM32F103RBT6 chip and the sensor modules select the MPU-6050, the electronic compass HMC5883 L module, the ultrasonic US-100 module and GPS. The wireless communication module selects the NRF24L01 chip. Finally the hardware circuit is designed by the choice of above devices.(4) Describing the software design and the experimental debug of the quadrotor UAV: According to the hardware design, the design of software system is described in general. To verify the practical effect of the controller design, the performance of prototype is testing indoor. Then the whole generalization is given to the design of control system, meanwhile next tasks are proposed to the deficiencies and shortcomings.