Method for balancing body of four-rotor aircraft

A quadrotor aircraft and airframe technology, applied in the field of control, can solve the problem that the aircraft cannot fly stably and reliably, and achieve the effect of stability and high control efficiency

Inactive Publication Date: 2016-01-20
SICHUAN HAOSITE ELECTRONICS TECH
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Problems solved by technology

[0004] The purpose of the present invention is to propose a new algorithm on the basis of the existing algorithm, including attitude c

Method used

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Embodiment Construction

[0019] The solution of the present invention is now further described.

[0020] The algorithm for quadrotor aircraft to maintain aircraft balance mainly includes attitude calculation algorithm and attitude control algorithm. The first is the attitude calculation. After the aircraft obtains the data from the sensor, we need to process and calculate the data. Here, the quaternion method is used for the attitude calculation and the cascade PID control algorithm is used for control.

[0021] 1. Attitude Calculation Algorithm

[0022] First define the speed and calculation cycle of controlling the accelerometer to correct the integral attitude of the gyroscope, and the calculation is surrounded by the attitude solve half the time. Here, the calculated attitude velocity is 500HZ, so the calculation period is 0.001.

[0023] Initialize the quaternion and define the integral of the attitude calculation error. The parameters gx, gy, and gz correspond to the angular velocities of the...

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Abstract

The invention discloses a method for balancing the body of a four-rotor aircraft, comprising an attitude solving algorithm and an attitude control algorithm. The attitude speed and computing cycle and the integral of attitude solving error are defined, the quaternion is initialized, and an attitude solving function is used in attitude solving. Two PID controllers connected in series form a serial PID control system to realize attitude control. Compared with the existing control mode, an aircraft can fly more stably through attitude solving and attitude control of the invention. An aircraft can fly in the air very smoothly, and does not swing. The control efficiency of the method of the invention is obviously higher than that of the existing control mode.

Description

technical field [0001] The invention relates to the field of control, in particular to a method for maintaining body balance of a quadrotor aircraft. Background technique [0002] Quadrotor aircraft is a new type of small unmanned aerial vehicle that can take off and land vertically. characteristics of uncertainty. It adjusts the attitude and position of the body by changing the rotational speed of the four symmetrically distributed rotors, and has the advantages of hovering, good maneuverability, and simple structure. The quadrotor aircraft can take off and land vertically, hover autonomously, and is flexible and convenient to use. It is especially suitable for obtaining aerial images of point or strip targets. It is increasingly used in the daily detection of power transmission lines in mountainous areas. Aircraft has become a current research hotspot. [0003] The stability and reliability of the quadrotor flying in the air are determined by the speed and accuracy of t...

Claims

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Application Information

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IPC IPC(8): G05B13/02
Inventor 刘刚强
Owner SICHUAN HAOSITE ELECTRONICS TECH
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