四旋翼飛行器控制算法研究與實現(xiàn).pdf

1、Research and Implementation of the ControlAlgorithm for Quadrotor AircraftA DissertationSubmitted for the Degree of MasterOn the Control Theory and Control Engineeringby Jianxiong PanUnder the Supervision ofA.Prof. Sun K

2、aSchool of Information EngineeringNanchang Hangkong University, Nanchang, ChinaJune, 2018IIABSTRACTThe quadrotor aircraft is a type of UAV(Unmanned aerial vehicles). Due to itssimple structure, vertical take-off and land

3、ing, easy to control and so on, it hasattracted a lot of attention for a long time. Especially in recent years, with theovercoming of related technical difficulties and the upgrading of production andmanufacturing level,

4、 the quadrotor has gradually appeared in people’s vision, whichhas been applied in aerial photography, public safety, agriculture and other fields. Nomatter from the market potential or the application value, the quadrot

5、or has greatdevelopment space, and the research institutes and companies all over the world havejoined in the research and development of the quadrotor aircraft.This paper focuses on the construction of mathematical mode

6、l, attitude controland the realization of system functions of the quadrotor aircraft. The main work is asfollows:(1) This paper analyzes the dynamics and kinematics principle of the quadrotor,sets the intertial coordinat

7、e system and fuselage coordinate system to calibrate thespace position of the aircraft. The Euler angles, direction consine matrix andquaternion are used to describe the aircraft’s movement attitude and thetransformation

8、 relationship between them, and the mathematical model of the aircraftis established finally.(2) This paper studys the control algorithm of quadrotor aircraft, from the sensordata acquisition to data filtering, attitude

9、calculation, attitude control and other relatedalgorithms. The second-order low-pass filtering and Kalman filtering are used in datafiltering, the quaternion method and direction consine matrix method are used inattitude

10、 calculation, and the back-stepping control algorithm is used in the attitudecontrol. In order to improve the traditional back-stepping method for bettersuppressing interference,this paper introduces a coordinate transfo

11、rmation toaccelerate the convergence speed of the system, thus achieving the role of interferencesuppression.(3) The STM32F103 series chip is used as the control core of the aircraft tocontrol the sensor MPU6050, communi