The Research Of Optimal Control And Atitude Estimation On Quadtrotor

The four-rotor aircraft can be used to transport supplies to disaster areas in some kind emergency rescues,which is efficient and low-cost.Limited by the control accuracy,energy consumption and other factors,the four-rotor aircraft has not been able to get a wide range of applications in the rescue mission.In recent years,with the development of science and technology,the four-rotor aircraft integrates control,sensor,electronic information,positioning technology and makes a great progress in the overall structure and material,weight and manufacturing process.So the applications of small four-rotor aircraft in the first aid supplies transport field become possible.In this paper,some research of the small four-rotor aircraft is carried out and in order to provide some help to the practical application in the future.The research work done and the results are summarized as follows:The four-rotor aircraft's research and literature were analyzed in this paper,describes the four-rotor aircraft's "evolutionary history" and the status of domestic and foreign research institutions and scholars' research and small UAV's core technology and technical bottlenecks.According to the operating principles of the four-rotor UAV's six degrees of freedom posture and aircraft's flight environment,we analyzes the forces of the power plant,establishes the aircraft's dynamic system model.Attitude solver combine theory is elaborated algorithm based on the Euler angles and quaternion algorithm attitude solver model.Aircraft control's hardware system is designed according to the four-rotor UAV's application requirements and mechanical structure and aircraft's control principle in this paper.And aircraft's prototype is completed with selected aircraft's architecture.In consideration of the error of attitude collection module,attitude estimation algorithm is proposed based on nonlinear complementary filter.Compared with EKF(extended Kalman filter)filtering algorithm,this algorithm not only has the advantage in speed,but also is easier to implement in the flight control microprocessor.According to vehicle dynamics model and attitude estimation algorithm,we proposed PID control algorithms,PID-PI nested control algorithms and inverse sliding mode control algorithm respectively.Finally,this paper conducts each aircraft attitude's test flight and set-high hover tests.