Design And Implementation Of Control System For Quadrocopter With Catching The Pole

With the advancement of technology,quadrocopter have been widely used,from aerial photography in manual remote control to completely autonomous object tracking and parcel delivery,it is foreseeable that in the near future,quadrocopters can be more autonomously completed.Task.As a typical nonlinear underactuated system,the precise control of the quadrocopter under complex conditions is very difficult,especially when interacting with external objects is more challenging.In order to meet the future application requirements of the quadrocopter and solve the complex control problems when interacting with external objects,this paper studies the control method of the quadrocopter with catching pole,builds the entire experimental system,and deeply studies the interactive condition judgment.Problems such as flight control before catching pole and hover control after catching pole were verified by experiments.The main research work can be summarized as follows:Firstly,according to the experimental requirements,the overall scheme of the quadrocopter experimental system was designed,and a hardware platform consisting of four basic components including a quadrocopter aircraft,an on-board computer,an indoor optical positioning system and a carbon rod with optical targets was built.On this basis,the corresponding software modules are designed,and the function description and operation flow are given for different modules,which lays a foundation for the smooth development of subsequent experiments.Secondly,starting with the quadrocopter,the definition and transformation relationship of the relevant coordinate system are given,and then the mathematical model of quadrocopter is established.From the perspective of the pole,the dynamic model of the pole in the free fall state is established.On this basis,the model of the quadrocopter with inverted pendulum system when the aircraft and the pole are combined is further established,which is linearized near the equilibrium point and lays a theoretical foundation for the following design of the control algorithm.Then,in order to ensure that the quadrocopter can accurately catch the pole,based on the dynamic model of the pole,the attitude and trajectory prediction algorithm of the pole is designed by using the real-time measurement information of the pole.Then the conditions of catching the pole are analyzed from the perspective of energy conservation.The formula for calculating the optimum point and time of catching the pole.Then,in order to ensure that the quadrocopter flies to the pole point within a certain time under the condition of satisfying certain physical constraints,the corresponding trajectory planning algorithm is designed.On this basis,for the different stages of the quadrocopter catching the pole,several sets of control algorithms are designed to complete the flight,post and pole hover function,and the effectiveness of the above method is verified by simulation.Finally,the above algorithm is programmed and implemented.The experimental platform is used to verify the function and performance of the whole system.The experimental results show that the system can accurately predict the flight attitude and trajectory of the pole.The quadrocopter can accurately follow the planned trajectory.Flying to the pole point,the quadrocopter can achieve stable stability and hovering the pole with inverted pendulum,which fully verifies the correctness of the hardware,software and algorithms of the entire system.