Research On Dynamic Modeling And Direction Control Of Four Rotorcraft

Four rotorcraft is a small,stable,vertical takeoff and landing,mechanical structure of a simple multi-rotor aircraft.And has the characteristics of low manufacturing cost,easy maintenance,not easy to damage and high flexibility.It is to control the speed of the four motors to change the rotor lift,so as to control the position and attitude of the four rotorcraft.With the development of mechanical and electrical integration,sensor,flight control theory and other technologies.The control research and application of four rotorcraft have been paid more and more attention.This paper mainly focuses on the four-rotor hardware circuit design,dynamic modeling and how to achieve the four rotor wing direction control research.The control of the four rotorcraft has high requirements on the operation of the data and the real-time processing capability of the signal,and the data processing,data transmission and real-time processing capability of the DSP and FPGA can meet the control requirements of the four rotorcraft.DSP on the data parallel processing capacity is weak,although FPGA can be repeated programming,parallel processing power,but the development of more difficult and cost.Combined with the advantages of both the data can be achieved in parallel processing,but also reduces the difficulty of development and cost.Therefore,this paper uses TMS320F28335 the DSP chip and Cyclone III EP3C16Q240C8 model of the FPGA chip as the control core to complete the four rotorcraft flight control system hardware design.The hardware structure of the four-rotor flight control system is divided into power module,main controller module,sensor module and motor drive module.By analyzing the principle of flight control of four rotorcraft,the structure and hardware circuit of each sub module are designed.The dynamics model of the four rotorcraft control system is established by dynamics and kinematics analysis that is the linear motion equation and the angular motion equation.In order to realize the attitude control of the four rotorcraft,it is necessary to solve the attitude of the four rotorcraft,and the position matrix and heading attitude angle of the four rotorcraft are obtained by the attitude calculation.Closed loop control of the attitude and position of the four rotorcraft is carried out by using the integral separation PID control algorithm.The simulation platform of the four rotorcraft is created by MATLAB / Simulink,and the validity of the flight control system is verified by the simulation results.