Research On Simulation And Experiment Of Attitude Fusion And Control Algorithm Based On Quadrotor

Quadrotor aircraft is an under-actuated system,which is strong coupling,highly nonlinear and hard to fly steady.It has many advantages,such as simple mechanical structure,maneuverability,high flexibility and VTOL,etc.With these abilities,it is widely used in military and civil fields,also in filming ads,and more got the favor of scientific research institutions and the majority of model aircraft lovers of all ages,which shows tremendous commercial value.To study four-rotor aircraft,it requires contrology,aerodynamics,sensor,communication and other subjects to work together,which has high research value and broad space for development.This paper studies quadrotor aircraft with the construction of the aircraft hardware platform,focusing on theoretical model,algorithm and debugging.This thesis analyzes flight theory of quadrotor,builds dynamic model and motor model,makes choices of IMU(Inertial measurement unit),driver unit and image acquisition unit,sets up quadrotor aircraft hardware platform with NI myRIO as the core controller,which is the theoretical and platform foundation for subsequent system design.Aimed at the problem of data acquisition and attitude calculation for quadrotor,this paper designs filter to optimize it.First,optimizes the complementary filter,introduces the detailed derivation process of Kalman Filter,designs the calculation process of algorithm applied to the quadrotor,verifies the importance of attitude fusion in flight control research via simulation experiment,analyzes the validity of adaptive complementary filter and KF algorithm,and then comparative analysis Extended and Unscented Kalman Filter for nonlinear system,the results show that after UKF filter,the effect of tracking data and removing noise is more obvious.After completing the attitude calculation of quadrotor,it needs to design a control system for aircraft.This paper analyzes working principle of commonly used control algorithm,and demonstrates three design schemes based on PID,Lyapunov and LQR respective,and then combines with dynamic model to build the whole simulation model.Comparing three controllers via simulation experiments,this paper chooses double closed-loop PID controller to control system flight attitude.To examine accuracy and effectiveness of theory model,attitude estimation algorithm and control algorithm,this study designs the overall software architecture,then uses LabVIEW to code and test data acquisition,Unscented Kalman Filter and double closed-loop PID control algorithm,also debugs interface of image gathering.In the last,this thesis makes system debugging and actual flight test of quadrotor aircraft.Experimental results show that theoretical model in this paper is accurate,attitude calculation and flight control algorithm meet the needs of steady flight for quadrotor.