Research On Tracking Control Of Four Rotorcraft

With the development of science and technology and the improvement of people's living level,peoples has more and more high demand for material and are interested in high-tech products too.Since four rotorcraft is very small and flexible,and people pay more attention to it.In recent years,the four rotorcraft are widely used in aerial,detection,military field,express delivery,etc.However,the four rotorcraft model is multi-variable,nonlinear,strong coupling and characteristic,so the study of the four rotor aircraft is full of challenges.And the trajectory tracking is also a hot and difficult research.In this paper we will study the problem for trajectory tracking of four rotor aircraft.It is mainly from the following several aspects.Study the working principle of the four rotorcraft,it is through the establishment of the earth and body coordinate system to coordinate transformation matrix,so as to establish the six degree of freedom equation and the dynamic model of the four rotorcraft.Study the dynamic inversion method,four rotorcraft tracking controller is designed by the dynamic inversion and carried on the simulation research with it,.We also analysis the stability of the inverse dynamic tracking controller and improve the exiting problems.The hardware and software system of four rotorcraft controller is designed based on STM32,and the flight experiment is carried on to verify the effectiveness and stability of the flight control system.