Attitude control system and control method of four-rotor aircraft

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, ...

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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 the outside world, its control quality will be significantly reduced, which seriously affects the application range of multi-rotor aircraft.

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