| Quadrotor UAVs are more and more widely used,so good control effect is very important,but in practical work,due to the unknown parameters in the model,it is difficult to design complex control algorithms.Therefore,the estimation of location parameters is very important.In this paper,a recursive least squares parameter estimation algorithm is used to estimate the unknown parameters in the model.Then the fuzzy PID control algorithm in adaptive control is used to control the pose of the model.The following is a summary of the main contents of this article:First of all,the research background and significance of the quadcopter UAV are reviewed.The current application of the system identification in the direction of the quadrotor UAV and the control algorithms adopted by the current mainstream quadcopter UAV are introduced.Secondly,the basic knowledge of quad-rotor UAV is introduced.The basic structure of quad-rotor UAV is introduced,and its flight principle is introduced briefly.Describing the quad-rotor UAV common attitude representation method.in order to describe the movement of the quad-rotor UAV,a body coordinate system and the ground reference frame are built,and estalish the dynamics model of the quad-rotor UAV.Thirdly,flight platform and flight data collection are specially designed.This paper mainly introduces some core hardware used in this paper and the ground station used in data acquisition.Then measure some of the physical parameters of the built flight platform to reduce the difficulty of estimating the parameters below.Final flight experiments and flight data collection.Fourthly,the flight data collected in the previous section is preprocessed,then the remaining parameters in the model are analyzed based on the measured parameters,and the recursive least squares parameter estimation method is used to estimate the remaining parameters.Fifthly,according to the previous recognition of the quadrotor UAV,the fuzzy PID control algorithm is used to control the attitude of the four-rotor UAV.After the simulation analysis,it can be concluded that the algorithm can track the attitude of the body well. |
