Research On Design And Control Method Of Distributed Configuration Rotorcraft Flight Platform

In recent years,information processing,sensors,microprocessors and communications technologies are developing rapidly,and their costs have been reduced,making modular robots and micro aircraft booming.However,the centralized four-rotor aircraft has low fault tolerance,low functional expansibility and poor structural flexibility due to its structure and control methods,etc.Therefore,this paper studies the rotorcraft based on the distributed control method and proposes an improvement method.First of all,in order to solve the problem of functional expansibility and structural flexibility of centralized four-rotor aircraft,this paper combines the idea of modular robot to decompose the centralized four-rotor aircraft into several flying modules which can run independently,and each flight module contains independent controller,sensor,executive agencies and feedback links.On this basis,according to the actual load requirements and structural needs,different number of flight modules can be used to assemble different configuration and different functions of the distributed rotor flying platform.Secondly,in order to improve the low fault-tolerant capability of centralized four-rotor aircraft,in this paper,a distributed consistent formation algorithm is designed to control the flight of the above distributed rotor flying platform,and the flight modules of the flying platform exchange information according to the method of distributed networked control and the default network topology,combined with the sensor feedback information,making independent decision of its own power output.Achieving the overall flight platform pose motion through the cooperation of each module.In order to verify the distributed multi-rotor flight platform designed in this paper,the distributed rotor flight platform is simplified as a rigid body with six degrees of freedom in space.The dynamic model of the flight platform is established by using the relevant dynamics knowledge.Next,after comparing the two common centralized four-rotor flight control methods,this paper finally adopts the LQR optimal controller as the local controller of the respective main body in the distributed configuration rotor flight platform,and passes the upper-level consistency formation.The algorithm coordinates the control of each flight module so that the overall flight platform can coordinate flight.Then,this paper builds the four-rotor experimental platform of distributed configuration,remote control and ground station based on the Arduino development platform.And the selection of each component and the detail parameters are also given in this paper.According to the research need of the distributed rotorcraft flight platform,the remote controller and the ground station are designed,the real-time recording of flight attitude data during the flight are collected and the attitude curves are drawn in MATLAB,which provides the basis for further analysis.Finally,two groups of experiments are given,the roll angle self-stabilization experiment and the take-off hovering experiment.The attitude data collected from the ground station are analyzed.The feasibility of the distributed flight platform designed in this paper is verified.At the end of the paper,the research work and some shortcomings are summarized,and some problems that need further research are put forward.