Desgin And Verification Of Flight Control System For Miniature Quadrotor Helicopter

Miniature quadrotor helicopter because of its simple structure, low cost and can realize vertical take-off and landing has a broad application prospect in the field of military and civilian, therefore it becomes hot spot in the research. But its underactuated, multivariable and nonlinear characteristics make it difficult to control, so that modeling and flight control system designing for quadrotor helicopter become the difficulties in the research. In this paper, based on the research of the flight control system for quadrotor helicopter at home and abroad, a serial of research has been done in the following aspects.Firstly, it’s the research of theoretical modeling for miniature quadrotor helicopter.The kinetic model is established according to classical mechanics theorem. Then using the small perturbation method obtain a certain linear mathematical model under the constant condition. It can provide a reference for the design of flight control law in the next step through the analysis on the stability matrix and control matrix in the linear model.Secondly, Summarize and put forward the general design requirement of flight control system. The design of the overall scheme of flight control system is completed according to the design requirement, and finish detailed design for part of the hardware module in flight control system. In the software part, use classic PID control method to design the flight control law and using simulated I2 C communication realize the data acquisition of the sensors.Then, it’s the research of strapdown navigation system. Use the update of attitude matrix represented by quaternion to acquire the attitude angle of quadrotor helicopter. Considering the method’s disadvantages, an attitude fusion algorithm based on Complementary filter is developed in this paper. Furthermore, some error correction methods are presented for the MEMS sensors used in the hardware design.Finally, joint debug all the system designed in the former to verify the effectiveness of the strapdown navigation system. In order to verify the effectiveness of the flight control law, the flight test is conducted in the self-made miniature quadrotor helicopter. The flight test results show that all the designed system can realize stable control of quadrotor helicopter.