Research On Control Of Quadrotor Aircrafts Based On Optimization Algorithm

The quadrotor aircraft is a kind of flying device that can achieve vertical take-off and landing.It has a broad application prospect in agricultural inspection,target tracking,disaster rescue,forest fire prevention,counter-terrorist surveillance and entertainment aerial photography,because of its advantages of low price,flexible operation,simple structure and strong mobility.However,during the actual flight,the quadrotor aircraft is susceptible to external factors such as airflow,gyroscopic effect and noise.In addition,the model of quadrotor aircraft is underactuated,strong coupled,multiple inputs and non-minimum phase,which makes the design and stability analysis of control system more complicated.Therefore,it is very necessary to deeply study the control scheme of the quadrotor aircraft and design a reliable flight control system to realize the trajectory tracking control.The main contents of this paper are given as follows parts.Firstly,based on the analysis of the quadrotor aircraft's working principle and the commonly used attitude description methods,the original dynamic model of the quadrotor aircraft is established according to Newton Euler equation and the rigid body theory.In order to facilitate the analysis of the body model and the study of control algorithms,the original model of the quadrotor aircraft is reasonably simplified,which lays the foundation for the following chapters.Secondly,in order to solve the trajectory tracking control problem of the quadrotor aircraft,a dual-loop control system is designed based on PID algorithm.Then,to verify the correctness of the control system in Matlab/Simulink environment,the control performance of the system is simulated and analyzed in detail.The simulation results certify that the system have good control performance,and the desired trajectory tracking control of the quadrotor aircraft can be successfully achieved.Again,in the actual flight,the actuator saturation is likely to degrade the control performance or even lead to instability.In order to solve the problem,a trajectory tracking control system of quadrotor aircraft is designed based on saturation control method.It can effectively solve the problem that quadrotor aircraft can quickly and stably track the desired trajectory under input saturation.Compared to cascade PID control system,in the position loop of the quadrotor aircraft saturation control system,not only the bounded control input containing the hyperbolic tangent function is designed,but also the global asymptotic stability theorem of dynamic systems is introduced.It makes the position subsystem of the quadrotor aircraft into a stable global closed-loop system.The simulation results certify that the system has a good global asymptotic stability in the saturation control input,and can well complete the tracking control task of the quadrotor aircraft.In addition,during the tracking process,the system overshoot and steady state errors are almost zero.Then,in the quadrotor aircraft cascade PID control system and saturation control system,the control parameter tuning is very difficult and it is also a tough task to achieve optimum control effect.To solve the problem,a control parameter optimization strategy based on evolutionary optimization algorithm is proposed.The integration for time multiplied square of error(ITSE)is used as optimization goal,and the optimal control quantity is obtained through iterative optimization of optimization algorithms such as Big Bang-Big Crunch(BB-BC),Cuckoo Search(CS),Particle Swarm Optimization(PSO)and Differential Evolution(DE).The simulation results certify that the optimized parameters of intelligent optimization algorithm make the system have good control performance,and the desired trajectory tracking control of the quadrotor aircraft can be successfully achieved.Compared with other algorithms,BB-BC has better ability of global optimization and higher convergence speed.Finally,in order to facilitate the simulation and verification of the quadrotor aircraft control algorithms,this paper combines Matlab and Solidworks three-dimensional CAD software to design a quadrotor aircraft visual trajectory tracking simulation system based on the Sim Mechanics physical model.It can perform online verification of various advanced control algorithms and visually display the real-time flight status of the quadrotor aircraft.