Design Of UAV Control System Based On Adaptive Theory

In this paper,multi-rotor drone is selected as the research object to design adaptive control system for the drone.The multi-rotor drone has been applied in many fields such as aerial photography,intelligent transportation,plant protection and so on.Aiming at designing a multi-rotor drone for patrol inspection,this paper studies the structure of embedded control system,dynamics model and controller design.First,aiming at the quadcopter designed for patrol function,the design requirements are analyzed,and the airframe and peripheral modules of the unmanned aerial camera are selected and designed considering the endurance time and shooting accuracy.Then,according to the requirements,we choose the appropriate types of sensors and wireless communication modules to prepare for the construction of embedded systems.Finally,the data flow inside the drone system under autonomous flight is allocated reasonably to design the structure of the whole flight control system.Second,analyzing the flight principle of quadcopter,synthesizing the dynamics theory,modeling the drone and simplifying the model.Then,according to the adaptive controller research scheme proposed in this paper,the attitude and altitude system is taken as the research object to design the controller.Finally,the model reference adaptive PID controller(MRACPID)is applied to flight control system.In addition,according to the needs of practical engineering and the adaptive sliding mode control method studied in this paper,the adaptive fault-tolerant control of multi-rotor drone is discussed.Last,the flight experiment of the designed drone platform is carried out,and the experimental data are processed and analyzed.The results verify the effectiveness of the drone control system designed in this paper,which can meet the requirements of aerial photography operation.It proves that the designed adaptive controller has achieved certain results in the application of the multi-rotor drone system and has certain practical significance.The experimental data of fault tolerant control shows that the research on fault-tolerant control in this paper has also achieved some results.