The Research Of Four Rotor Aircraft Design And Attitude Adjustment Control Algorithm

Four-rotor aircraft is vertical take-off and landing of aircraft, usually adopt cross-shaped or distribution, four propellers were distributed at the end of the bracket.Without a single rotor aircraft like the tail rotor to counteract torque roundabout, energy-saving but also to make the aircraft more compact.It is only by adjusting the four propeller speed to regulate the tension and then adjust the corresponding aircraft attitude, more simple and reliable structure.Because of its four propeller, load is bigger, can make the blade can be made smaller, easy to miniaturization.Four-rotor aircraft can hover and move freely in the air, so it has great flexibility.Since the four-rotor aircraft has so many advantages, new concepts can be applied to the transport sector, the field of security, the construction sector and other high-risk operating environment, it has a broad application prospects.While four-rotor aircraft has the above advantages, but also need to solve many problems on the control. Because space has six degrees of freedom and four control inputs, it is more variable underactuated strong coupling nonlinear system, so the modeling more complex control algorithm requires relatively high.Based on the four-rotor aircraft working principles and frame structure, dynamics, motion analysis and research, the establishment of the dynamic model.The dynamic model of decoupling, simplification, linearization, substituting aircraft simulation parameters to obtain the desired transfer function.Using transfer established in MATLAB simulation platform, verify the effectiveness of the algorithm to control the aircraft presented in this thesis.Based STM32F103RBT6 master chip were produced flight control panel and the remote control, set up a four-rotor aircraft system, in order to verify the algorithm provided in-kind internet.This paper proposes a cooperative control by the LQR and PID control scheme for four-rotor aircraft attitude adjustment.Measured by the inertial measurement unit data, after the Kalman filter is passed to the PID+LQR controller.Built by MATLAB simulation platform and physical platforms, verify that the controller can solve the four-rotor aircraft is not fast and stable response to a specified location and weak immunity and other issues.Also indicates that the controller can ensure the aircraft quickly and accurately adjust to the specified location and course, enhances immunity.