Research On Attitude Control Method Of Quad-rotor Based On Flight Simulator

Due to its low takeoff and landing conditions,flexible flight attitude adjustment,and the ability to achieve aerial hovering,the quadrotor has become more and more widely used in many popular fields such as logistics delivery,pipeline inspection,and agricultural plant protection.The stability of the quadrotor control system is the basis for achieving various functions.The research platform of this paper is a quadrotor flight simulator experimental platform,which can provide some reference value for the practical engineering application of outdoor small and medium-sized quadrotor UAV attitude control by establishing the mechanical model of the vehicle and studying the influence of different control methods on the attitude control of the vehicle.The main research contents of this paper are.(1)The hardware components of the flight simulator are introduced,the mechanics method is used to analyze and model the pitch,roll and yaw angles,and the state-space equations of the flight simulator are obtained,and the controllability and observability of the system are analyzed on this basis.(2)The LQR controller and fuzzy PD controller are designed for the flight simulator respectively.The LQR control is designed according to the optimal control theory,on which the simulation diagram of the flight simulator system is built and several different sets of Q and R matrices are selected for simulation to obtain their effects on the system response effect.For the fuzzy PD controller determine the fuzzy rule and affiliation function,and carry out the PD parameter rectification.The simulation curves of the two methods,LQR control and fuzzy PD control,are compared and analyzed,and the results show that both algorithms do not oscillate after stabilization,and the fuzzy PD control performs better than the LQR control in terms of overshoot and system response time,but its steady-state error is slightly larger than that of the LQR control.(3)The feedback linearization method and the basic mathematical tools used are introduced,and the linearized attitude control system of the flight simulator is obtained by transforming the state of the original nonlinear model according to the feedback linearization method and adding a virtual position quantity.The simulation results of the feedback linearized LQR controller show that the controller has excellent performance in attitude tracking control with fast response and good tracking effect.(4)The LQR controller,the fuzzy PD controller and the feedback linearized LQR controller designed in this paper are verified in real time based on the experimental platform of the flight simulator.By observing the actual control performance of the three control methods.By observing the actual control performance of the three control methods,the yaw angle overshoot is 0.6%,and the step signal tracking steady-state error is 0.2red.At the same time,the problem of general anti-interference ability of the first two control methods is solved.,the excellent real-time control performance of the feedback linearization-based LQR controller is demonstrated.