Design And Implementation Of Multi-Rotor Aircraft Flight Control System Based On Model

Multi-rotor aircraft has been widely used in aerial photography,surveying,power line inspection,urban management and other fields.The design and implementation of the multi-rotor flight control system is the key to the autonomous flight of the aircraft.Therefore,its design method has become one of the research hotspots at home and abroad.This thesis selects the quadrotor as the representative of the multi-rotor aircraft,and conducts research and exploration on the design and implementation of the model-based flight control system.Firstly,the dynamics and kinematics of multi-rotor aircraft are analyzed,and mathematical modeling is carried out using Matlab/Simulink platform to form a graphical aircraft ontology model.At the same time,after the introduction of the basic concept of PID control,the attitude settlement and position estimation of the sensor raw data were carried out.Then the control block diagram of the flight control system was analyzed and designed,and the model-based multi-rotor aircraft control system design was completed.Then,according to the requirements of the project,the hardware design of a fourrotor aircraft was completed,including the design and selection of the frame,rotor,power unit,remote control system and flight control system.For the selected flight control computer,the underlying software operation principle and interface driver module are analyzed and studied in detail.After that,the application domain and its generated code framework of the automatically generated code of Matlab/Simulink platform are deeply analyzed,and the automatic code generation environment and hardware interface model are customized for the target hardware environment.At the same time,the external mode based on the target platform is realized.Model online tuning technology.Finally,the controller model and the hardware interface model are integrated,using a custom automated code generation environment,the software source code is generated and compiled into an executable file that runs successfully on the target flight control computer.This project successfully verifies the feasibility of the design and implementation of the model-based flight control system on multi-rotor aircraft.This method greatly improves the efficiency of the design and implementation of the flight control system,and enhances the reliability and maintainability of the system.It lays the foundation for the design and implementation of a larger and more complex UAV model-based flight control system.