Control System Design And Implementation Of Inverted Pendulum On A Flying Quadrotor

The quadrotor inverted pendulum is a new type platform to confirm the effectiveness of the controller,which combines with the inverted pendulum and the quadrotor.It retain the nonlinear,strong coupling,multivariable,high-order characteristics of inverted pendulum.And it also has model uncertainties by introducing a quadrotor as actuator.Therefore,this system can be used to validate complex control methods.In order to implement the quadrotor inverted pendulum control system,both the software and hardware design and control algorithm design are necessary as well.Only two research teams have implemented the experimental platform,because it is much more difficult than traditional inverted pendulum.In this paper,we design a quadrotor inverted pendulum experimental platform and control it well to get ready for the verification of other control methods.The main contributions can be summarized as follows:First,a quadrotor inverted pendulum experimental platform is designed.According to the experimental requirements,the overall scheme of software and hardware is designed.Then,the experimental platform is implemented,which includes quadrotor,computer and Optitrack.The test result proves that the developed of system is correct and rational.Second,the modelling of system is carried out and the particular problems of system are proposed and analyzed.According to the model of inverted pendulum and quadrotor,the model of the quadrotor inverted pendulum is put forward.Then the model is linearized around the balance point.At last,two key issues are analyzed,the first one is caused by that the fulcrum is higher than the center,the other one is from orientation deviation of quadrotor.Third,the closed-loop control design methods are proposed for each loop,based on PID controller.An effective gain tuning method for attitude controller of flying control system is presented.A cascade PID controller is used to realize the position control of the quadrotor.Then,a multi-loop PID control method of the quadrotor inverted pendulum system is proposed,which realizes the control of the stability of the inverted pendulum and the position of the quadrotor.Detailed simulation verifies the correctness and effectiveness of the strategy.Last,the functions of the experimental platform are tested.And the quadrotor inverted pendulum is well controlled.The experimental results show that the multi-loop PID controller meet the needs of system and the control effect is excellent.Results also prove that the multi-loop PID controller has strong anti-jamming capacity and robustness.Although,the multi-loop PID controller is simple,it shows that the design of experimental platform works well,which lays a solid foundation for further research of the complex control methods.So,the study in this paper is of far-reaching significance.In addition,the experimental platform in this paper has the feature of good across-platform,high stability and expansibility.It can be used for other research of quadrotor.