Design And Research Of Quadrotor UAV Control System

Due to the significant improvement in global technology,quadrotor UAV has made great progress in terms of portability,structural strength,sensor types and functions,which has driven its development in both military and civilian fields.However,the quadrotor UAV attitude and position control loops are highly coupled and susceptible to external interference,which makes it difficult to accomplish the control goal of stable flight.In order to control the attitude and position of the quadrotor UAV more accurately,this paper designs a control system with good comprehensive performance,and the main work is as follows:Firstly,the overall motion of the quadrotor UAV was divided into the translational motion of the center of mass and the rotational motion around the center of mass according to the Newton-Euler theorem,and then they were analyzed separately in detail,from which the dynamics model of the quadrotor UAV was derived,and the Simulink simulation model was established based on this.Secondly,in order to solve the problem of sensitivity of quadrotor UAV attitude control to perturbations,the variable universe idea,fuzzy control,and ESO were introduced based on the cascade PID controller structure,by which the ESO and variable universe fuzzy PID cascade controller was designed,and its stability was demonstrated by using the Lyapunov discriminant criterion.At the same time,the control effect of the controller was compared with the cascade PID controller under the simulation conditions of no wind disturbance and with wind disturbance,and the results verified the effectiveness of the controller.Then,according to the actual control requirements of the quadrotor UAV,the hardware such as the main controller,sensors and power module were selected,and the complementary filtering algorithm and Kalman filtering algorithm were designed,so that the soft-hardware control system of the quadrotor UAV was constructed.Through the actual flight test of the quadrotor UAV,the good performance of the attitude controller,altitude controller and fixedpoint controller was verified.Finally,given that the traditional selection method of PID parameters is tedious and difficult to determine as optimal,thus the improved sparrow search algorithm is proposed to optimize the PID parameters of the quadrotor UAV.The improved methods include:introducing Piecewise(segment function)chaotic mapping to improve the uniformity of the initial distribution of the population;adding dynamic inertia weights to balance the global and local search ability of the algorithm;adopting an adaptive hybrid variation strategy to increase the diversity of variation,improve the search efficiency and accuracy of the algorithm.The simulation of Simulink results show that compared with the particle swarm algorithm,genetic algorithm,and standard sparrow search algorithm,the speed and stability of the system tracking input are improved by inputting the PID parameters optimized by the improved sparrow search algorithm into the controller.