The Research About Design And Control Technology Of Large Load Quadrotor

The advantages of quadrotor have great potential applications in the military,civilian areas.It can be applied to express delivery,topographic mapping,plant protection and other occasions,also can be used as the implementation platform about disaster relief,biochemical sampling and other high-risk operations.Currently,the load of quadrotor is too small,and it is a typical under-drive,multi-input multiple output(MIMO),strong coupling nonlinear control system,its attitude stability control is always restricting its development and the problem of application.In order to solve this problem,aims to realize the horizontal attitude and height self-stabilization of quadrotor and improve the anti-jamming capability under the hovering state,this paper focus on building the prototype of large load quadrotor,the dynamics modeling,the design of control algorithm and the development of control system.In this paper,it carry out the construction of large-load quadrotor prototype firstly,and complete selecting the hardware of control system and power system,as well as determine the material,size and model of entire prototype.Secondly,in order to obtain the characteristics parameters of rotor,a test platform is set up,and the test software program based on LabVIEW is completed.Then,the mathematic model of quadrotor is established,and the model is simplified and decoupled.The decoupled model is used to control the attitude and the height based on the cascade PID controller,then verified by simulation.Finally,the software part of the control system and how to build the compilation platform are introduced.And according to the previous research,the secondary development of the program and the replacement of control algorithm is carried out.According to the flight experiment data,the dynamic and static characteristics and anti-jamming performance of the control system are analyzed.According to the results of flight experiments,the feasibility of the quadrotor design and the effectiveness of the control algorithm and the control model are proved.