Research Of Control System And Navigation For Quadrotor

Quadrotors have the advantages of low cost,zero casualties,reusability and simple construction,so,it attracts many scholars to participate in the research of quadrotor.But flight system is an under-driven,non-linear and strongly coupled system,so control is one of the difficulties,In addition,quadrotors generally use MEMS devices as navigation sensors,but MEMS devices have the disadvantages of high noise.so,how to obtain the accurate attitude angle is very important for quadrotors,this paper will focus on the above questions.First,according to the needs of quadrotors modeling,two coordinate systems are established,and the attitude rotation matrix is derived,based on Newton's mechanics theory,the equations of nonlinear model are established according to the dynamics of quadrotors,and it lays the foundation for the design of control system.Then,in order to optimize the stability of attitude angle in navigation research and realize the full attitude solution,EKF and FAEKF are based on quaternion to fuse the data collected by the sensor,and use MATLAB to simulate the above algorithm,the results shows that FAEKF is better than EKF in attitude stability.Finally,the attitude control model and position control model are set up by using the dynamic equations of the quadrotors,and the PID algorithm is used to control and complete the simulation experiment,the fuzzy controller is also designed to optimize PID,MATLAB/Simulink verification shows that fuzzy PID improves the control performance of attitude stability.Using the control algorithm and attitude calculation algorithm designed in this paper for flight test,experiments show that the proposed algorithm can achieve good flight results and prove the feasibility of the algorithm.