The Dynamic Model Of The Collision Avoidance Quadrotor And Study On Control Strategy

The Quadrotor has a variety of advantages including simple mechanic structure,low cost,high performance,broad application prospect and etc.This thesis discusses the issue of the quadrotor’s dynamic model and flight control strategy.The main content of this thesis includes the following parts:Firstly,the quadrotor’s flight principle is discussed and the dynamic model is built.Secondly,the quadrotor’s flight control issue is studied.The nonlinear model of the quadrotor is simplified and the controller is designed according to the simplified linear model,finally the controller is verified and analyzed by simulation.Then,the Active Disturbance Rejection Control controller is introduced to the design work for solving the problem of quadrotor’s flight control.The design method of ESO is discussed.The ADRC strategy is proposed to control attitude.The results of simulation prove the effectiveness of this strategy.Compared with PID controller,the ADRC controller is analyzed.Finally,by adding a cylindrical cage to the structure of normal quadrotor,its collision avoidance function is implemented.As a result The quadrotor can also roll on the ground.By using Lagrange method,the dynamic model of the motion on the ground is built.Then the classic PID control and ADRC are adopted to realize the effective control of the quadrotor when it’s rolling on the ground.