Four-rotor UAV Control System Design And Realization

In recent years, with the development of computer technology and control technology, security and stability of four-rotor UAV is improving, so it attracts more and more attention of researchers. Four-rotor UAV has a small, highly mobile, easy to use and other characteristics, so it can be adapted to a variety of complex work environment and it is widely used in military and civilian fields. The main objective of this paper is to design and make a four-rotor UAV flight platform, which can be able to control the aircraft to complete routine flight operation under the premise of safety.Firstly, the basic characteristics and parameters of mechanical structure and power supply are determined. The dynamic characteristics of flight principle of t he UAV are analyzed. According to Newton- Euler equation a dynamic model is established. Then several PID controllers are designed for the UAV flight control. Experimental studies using Simulink tools are conducted to confirm control and operational abilities of the system.In addition, the process of hardware and software design also be declared in this paper, including the flight control part and BLDC part. The paper introduce the performance, parameters and applications of them and finish the PCD circuit product. The whole control system is constituted by combining the hardware and software which base on the open source code called MWC.In order to verify the rationality and feasibility of the design, a lot of flight test have be done using the aircraft which combine the control system and flight platform. Through a serials of preparation and debugging, the test results show that the aircraft has a good performance in stability and control.