Research On Attitude Control Of Quadcopter UAV

Since the 21 st century,due to the rapid development of science and technology and the research of increasingly perfect flight control systems,as a member of the unmanned aerial vehicle family,the quadrotor unmanned aerial vehicle has been widely used in various fields because of its simple structure and flexible operation.The large field has stimulated the research enthusiasm of researchers.This article focuses on related research on the attitude control method of the quadrotor UAV,including the working principle,dynamic modeling,physical assembly,attitude data calculation and fusion filtering of the quadrotor aircraft,and the design and verification of the controller.For the controller part,a cascade PID controller and a cascade fuzzy PID controller are designed,and MATLAB is used to simulate the experiment.By comparing and analyzing the simulation results,the feasibility of the two to control the quadcopter is verified.It is proved that the cascade fuzzy PID controller is slightly better than the cascade PID controller in terms of stability and anti-interference ability.The main work and research results include the following parts:1.Introduce the working principle of the quadrotor unmanned aerial vehicle in detail,and use the relevant knowledge of mathematics and physics to create a dynamic model,and linearize the created model.2.Identify and purchase the relevant sensor components by searching the data,and personally weld and assemble a real four-rotor aircraft for subsequent research.3.Comparing the complementary filtering algorithm with the extended Kalman filtering algorithm,it was decided to use the extended Kalman filtering algorithm to fuse and filter the attitude data information obtained by the sensors in the quadcopter;the data solution wasbased on the quaternion method to deal with.4.The cascade PID controller and a cascade fuzzy PID controller are designed.By comparing the simulations,it is proved that the stability and anti-interference ability of the cascade fuzzy PID controller are slightly better when controlling the four-rotor UAV cascade PID controller,and in-flight verification of the cascade fuzzy PID controller.