Design of Attitude Control System for Quadrotor
نویسندگان
چکیده
Quadrotor is a widely used aircraft now and be with the nonlinear, uncertain characteristics. Because of requirement on high attitude stability the attitude control system of quadrotor needs to be well designed. Firstly the movement pattern and working principle of the quadrotor are analyzed. Then the hardware schematic diagram of attitude control system is designed which includes several sensors, the master controller, power supply module and so on. Sensors communicate with the master controller mainly through the IC interfaces. Thirdly the application of Kalman filter is studied as the attitude solving algorithm for the quadrotor. Kalman filter is used to realize data fusion and the effectiveness of this algorithm is verified. Then Based on a dynamic model the classic PID algorithm is verified. At last outdoor flight tests are conducted several times. The results show the quadrotor can realize basic functions of hovering and vertical take-off and landing.
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تاریخ انتشار 2013