Research On Attitude Calculation And Control Of Quadrotor UAV

Four rotor unmanned aerial vehicle(UAV)which has a simple structure,can be vertical lift and the free hovering,and other advantages,therefore which has the extremely widespread application prospect in many fields.Given this,four rotor unmanned aerial vehicle as the research object in this paper,establishing model of six degrees of freedom mathematical based on the mechanism of its features,and the thesis studies from two aspects,one is attitude calculation,the other is method of attitude control,improved the method of attitude calculation and attitude control,set up a flying platform of four rotor unmanned aerial vehicle flight and flight testing,at the same time,analysis the system performance and function of four rotor UAV.Paper main work can be summarized the following several aspects:(1)A method combining complementary filtering with square-root central difference kalman filter is proposed.The method will update SRCDKF algorithm in the time update equation and measurement equation of asynchronous iteration,and introducing the complementary filter in the time update equation,at the same time,in the guarantee of iteration precision,increasing the calculation of the algorithm.The simulation experiment carried out to verify the method,which results showed that the accuracy of iteration about consistent in comparison to SRCDKF,but reducing 41.6%of computation time under the same that iteration step in circumstances.(2)A method is improved by L1 adaptive control algorithm based on LESO state observer.About the precision of disturbance identification in the unknown object model using L1 adaptive control method,so the method bring LESO into system to identify and compensate real-time disturbances.The method can effectively overcome the error from modeling inaccuracy and compensate internal and external disturbance system in time.The simulation experiment carried out to verify the method,which results showed that L1 adaptive control algorithm based on LESO state observer be able to better estimate interference and compensation,improved robustness of the system.(3)Designed the overall scheme of four rotor UAV attitude control system.The system mainly uses STM32F405 as controller,MPU6000 for inertial sensor,HMC5983 for magnetic sensor,through putting the sensor data collected into asynchronously complementary SRCDKF filter algorithm to get reliable attitude angle,getting motor control by analysis instruction of the remote control combining with attitude control algorithm,realized to control the position of four rotor UAV system.To test the platform on the four rotor UAV,implements the hovering flight mode,etc.Paper puts forward corresponding solutions,in view of the four rotor unmanned UAV attitude algorithm and attitude control problems,through the Matlab simulation experiment,proved the effectiveness of the proposed method.At the same time,combining with four rotor unmanned UAV flying experiment,the paper designed of attitude control system platform of the four rotor UAV unmanned,completed the system scheme,tested unmanned UAV flight experiment,and reached the desired goal.