Design And Implementation Of Flight Control System Of Unmanned Multi-Rotor Aircraft

Unmanned muti-rotor aircraft can realize vertical take-off and landing, hovering and so on, so it has a promising application in the field of civil and military.Taking unmanned muti-rotor aircraft as the research object, this thesis adopts dual ARM core structure to realize allocating and managing tasks rationally, focuses on the research of date fusion algorithm, multimodal flight control, and safety protection under the condition of abnormal emergency. Eventually this thesis verifiies the reliability and superiority.of the whole flight control system through the flight test.First of all, to meet the expansibility and reliability of the flight task, the thesis designs a hardware platform based on the double ARM architecture, adopts the idea of modular design, focuses on selection of appropriate sensors, dual redundant attitude sensor, design of the controller module, power supply module, input and output module and other electrical schematics. the thesis completes the PCB design and hardware debugging.Secondly, according to the characteristics of the sensor, the data fusion algorithm is designed with the data of GPS, barometer and accelerometer based on the Complementary filter and Kalman filter algorithm, in order to get a more precise position and velocity date, which laid a solid foundation for position control designing of the unmanned muti-rotor aircraft. This thesis analysises the flight control principle of unmanned muti-rotor aircraft, and designs control law program of mutiple flight mode and motor control signal allocation algorithm.Then, the thesis adds safety protection to flight control system under the condition of abnormal emergency treatment, including low power battery voltage, the loss of GPS, remote control signal and ground station signal. and at the same time, the thesis designs hardware and software of autonomous obstacle avoidance of the unmanned muti-rotor aircraft, which enhances the safety of flight.Finally, through the indoor and outdoor flight test, this thesis completes parameter tuning. The tests’ results exhibit flight control system has rich function, reliably and stability performance. And the research achievement has an important reference value for the further control technology.