Research On System Identification And Control System Of Quadrotor Based On NI MyRIO

The four-rotor aircraft has the characteristics of simple structure,flexible operation,strong function and wide application range,so it is widely used in military and civil fields.However,because of the instability of the four-rotor and the interference of the external factors,the design of its dynamics and control system is still a difficult problem in the research of the four rotary wing spacecraft.The precise dynamic model is the precondition of the stability control system,so the four-rotor aerocraft is studied in the following aspects:First of all,on the basis of the analysis of the history and present situation of the fourrotor aircraft,in the aspect of hardware,the flight frame,central controller and sensor of the four-rotor aircraft are selected and analyzed,and the assembly and welding are completed,and the stable four rotor frame is built,which provides a stable platform for the research of the project.Secondly,On the basis of studying the flight mechanism of the four-rotor aircraft and the realization of each flight attitude,the establishment of the mathematical model and the measurement of the important parameters of the four-rotor aircraft in the hover point are presented,which provides a theoretical basis for the research of this subject.Than,in order to obtain a more accurate mathematical model,the control model of the three-axis angular velocity of the four-rotor aircraft is selected and the control model of the three-axis angle is obtained.On the basis of the mathematical model,the Cascade PID control algorithm is studied and analyzed,and the control rate of the three-axis attitude angle and angular velocity is designed by Matlab simulation method.Finally,taking the rolling direction as an example,the experimental debugging and verification of the actual flight are carried out,and the control parameters which can achieve better flight effect are designed.Finally,based on the analysis and introduction of LabVIEW features and development steps,the paper compiles and debugged the IIC Data acquisition program,system identification program diagram and PID control program diagram,and completes the construction of the four-rotor software system.