Design And Implementation Of The Flight Control System Of Hexa-copters

In recent years, the advancement of MEMS technology and computer technology has greatly promoted the development of flight control technology of multi rotor UAV(Unmanned Aerial Vehicle). The multi rotor UAV has several characters such as high system security, high reliability, ability of fault tolerance, and strong load capability, therefore it has a bright application prospect. In this paper, we develop a set of flight control system with perfect functions, stable performance and ability of fault tolerance based on Hexa-copters.1)The Hexa-copter’s control system hardware platform is designed. Several flight control systems at home and aboard are analyzed. The hardware requirements and performance targets of the flight control system are proposed on consideration of the characteristics of Hexa-copters. We divide the flight control system into several modules according to the design requirements and performance targets, and accomplished the design and debug of the hardware.2)Butterworth and Chebyshev low-pass filters are designed in order to filter the sensor data on account of the high frequency vibration of Hexa-copters. Sensor data is calibrated by proper sensor emendation method. Besides, attitude solution based on the complementary filter and the extended Kalman filter is designed. In addition, plenty of flight test and comparative experiments are conducted so as to verify the attitude solution algorithm, experiment results show that the proposed method has a nice performance, which laid a solid foundation for designing the flight control system of Hexa-copters.3)The kinematics and dynamics models of Hexa-copters are designed, then the attitude control law and position control law are proposed based on PID and Integral-Backstepping(IB) control theory, respectively. The effectiveness of the two algorithms is verified by Matlab simulation, and on this basis, the fault-tolerant ability of the IB theory is verified by simulation.4)The software of Hexa-copters flight control system is designed. A lot of flight experiments are conducted, which verified the basic function and performance.