Design And Research Of Flight Control System For Four-rotor Aircraft

As a kind of unmanned flying mechanism,the quadrotor is capable of attitude control through the electronic input of the remote flight controller or the airborne flight controller.Compared with the traditional aircraft,it has low mechanism cost,good handling performance and flexible movement.Therefore,in recent years,it has become the research focus of domestic experts and scholars.As the important content of the flight effect of the four-rotor aircraft,how to design the control algorithm that meets the control requirements in the resource-constrained hardware platform is a key concern of all parties.Based on the existing research work,this paper studies the four-rotor aircraft controller based on fuzzy PID algorithm to realize the adjustment of the flight attitude of the aircraft based on the knowledge of four-rotor aircraft modeling,PID algorithm and fuzzy control algorithm.The content is:The research background and significance of the paper are summarized,and the research status of the control problem of the quadrotor is described.The structure and flight principle of the four-rotor aircraft system are briefly described,and the force and moment of the aircraft are analyzed.Based on this,the dynamic model of the quadrotor is established.Designing the attitude angle detection method of the quadrotor by accelerometer and gyroscope,and using the complementary filtering method to fuse the information collected by the sensor.According to the control requirements of the quadrotor,the aircraft controller based on the fuzzy PID control method is designed to realize real-time online tuning of each control parameter.According to the control requirements,the hardware circuit of the quadrotor is built,and the software system is designed based on the hardware circuit module.Finally,in order to verify the effectiveness of the proposed control method in this paper,a four-rotor aircraft controller based on fuzzy PID algorithm is established in Matlab/Simulink,and the flight stability,flight tracking and flight immunity of the four-rotor aircraft are discussed.The simulation results show that the four-rotor aircraft controller designed in this paper has better control effect.