Attitude control system and control method of four-rotor aircraft

A four-rotor aircraft and attitude control technology, which is applied in the field of aircraft control, can solve the problems affecting the application range of multi-rotor aircraft, the decline of control quality, and the high accuracy of the model.

Active Publication Date: 2013-03-06
南京傲翼飞控智能科技有限公司
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Problems solved by technology

However, most of the above control methods have high requirements on the accuracy of the model. When the model is perturbed or disturbed by

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  • Attitude control system and control method of four-rotor aircraft
  • Attitude control system and control method of four-rotor aircraft
  • Attitude control system and control method of four-rotor aircraft

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Embodiment Construction

[0049] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0050] Such as figure 1 Shown, a kind of quadrotor aircraft attitude control system comprises DC-DC circuit 1, three-axis accelerometer 3, geomagnetometer 4, gyroscope 2, analog-to-digital converter 5 and microprocessor 6, and described three-axis accelerometer The three-axis accelerometer, the magnetometer and the gyroscope will send the detected analog signals to the microprocessor for processing and control after analog-to-digital conversion.

[0051] 1. DC-DC circuit: The DC-DC circuit is a DC-to-DC power conversion module, and its function is to convert the DC power supply into the required DC voltage. In this example, the voltage regulator chip LM2575 is selected. The maximum input voltage is 45v, the maximum output current can reach 1A, the output voltage is adjustable from 3.3v, 5v, 12v, and 15v, and the voltage regulation error is within 4%. Accord...

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Abstract

The invention discloses an attitude control system and a control method of a four-rotor aircraft. Firstly, the information of attitude angles of the current aircraft is obtained, and the attitude angles include a roll angle, a pitch angle and a yaw angle; secondly, controllers for the roll angle, the pitch angle and the yaw angle are respectively designed, wherein the controller for the roll angle is the same as that for the pitch angle; and finally, after obtained control inputs of the three controllers are overlapped, a total driving signal is output, thereby driving a motor to operate, so as to control the attitude of the aircraft. A gyroscope and an accelerometer are combined, and a Kalman filter is designed in accordance with models of the attitude angles of the aircraft, so as to conjecture the attitude angles on line. Additionally, variables of the intermediate state of the system can be obtained, and a certain filtering effect is achieved.

Description

technical field [0001] The invention relates to a four-rotor aircraft attitude control system, which belongs to the technical field of aircraft control. Background technique [0002] As early as the middle of the last century, micro-miniature multi-rotor aircraft have attracted the attention of some overseas research institutions. However, multi-rotor aircraft are generally small in size and relatively poor in load capacity, so they cannot be equipped with traditional high-precision sensors. Until the beginning of this century, the development of MEMS sensor technology made a breakthrough in the research of micro multi-rotor aircraft. [0003] Attitude control is the basis of multi-rotor flight control. In order to complete the attitude control, the attitude information of the aircraft must be obtained first. At present, the measurement methods of the attitude angle of the aircraft mainly include: 1. Using a high-precision gyroscope. Although the price is relatively low, ...

Claims

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Application Information

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IPC IPC(8): G05D1/08
Inventor 王伟马浩胡凯翁理国夏旻朱海飞
Owner 南京傲翼飞控智能科技有限公司
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