Research And Implementation Of Six-rotor Based On ARM Cable

In recent years,the multi-rotor UAV(unmanned aerial vehicle)has shown brilliantly in the field of aerial photography and mapping,and it has made great achievements especially in geological survey,remote sensing mapping,disaster monitoring,film and television aerial photography,urban patrol,agricultural plant protection,electric power inspection and other aspects.However,the insufficient endurance of multi-rotor UAV has become a bottleneck which restricts its development.For the limited capacity of airborne batteries,a ground-cable-powered multi-rotor UAV is designed to solve the technical problems of insufficient endurance and not hovering for a long time in the air.This paper introduces the implementation procedure of the cabled Hexa-copters’ design scheme from the following aspects.Firstly,a comprehensive mathematical model of the cabled Hexa-copters is built and analyzed.Particularly,the cabled Hexa-copters’ geometric midpoint was taken as the particle for force analysis.According to the Euler’s law of motion,the Euler dynamic equation of the cabled Hexa-copters was deduced.In the Hexa-copters’ attitude solution,the process of the main control chip’s using the acquisition sensor’s original attitude data to solute the attitude was deduced in detail.After the advantages and disadvantages of Euler angle method,direction cosine method and quaternion method were analyzed emphatically,the quaternion method was selected as the attitude solution algorithm of this design.Additionally,the Runge-Kutta method is selected as the numerical method to solve the attitude differential equation by a comparative experiment of numerical calculation methods.In the Hexa-copters’ attitude fusion algorithm,attitude solution based on the complementary filter and the extended Kalman filter is designed.The extended Kalman filter was simulated and analyzed by using the mathematical tool of MATLAB.The complementary filter and extended Kalman filter were implemented with C code.The real attitude fusion effects of first-order complementary filter,second-order complementary filter and extended Kalman filter algorithm were compared.Then the second-order complementary filter algorithm is selected as the attitude fusion algorithm of this flight control systemAccording to the previous theoretical research and scheme’s formulation,the schematic diagram of the cabled Hexa-copters flight controller was designed,and the flight controller’s PCB(printed circuit board)was drawn by the software of Altium Dsigner09.In the control algorithm and software design of Hexa-copters,cascade PID algorithm is taken as control algorithm,then the fixed height mode and the attitude mode controlled flight are designed.The tool of Simulink was used to simulate the same controlled object’s output response speed separately with single-stage PID and cascade PID control algorithm.Finally,components were purchased to form the aircraft’s frame and the previously designed flight controllers were installed.The PID and other design parameters of the flight controller were set in the simulated flight test platform,and then the real flight test was carried out in the spacious flight test ground.The flight effect of the Hexa-copters without cables were tested.After the flight experiment of Hexa-copters without cables was successfully completed,the parameters of the ground-cable-powered Hexa-copters need to be adjusted to test the flight effect.The feasibility of the cabled Hexa-copters’ design scheme proposed in this paper is verified by real flight experiments.