A quadrotor aircraft and a control method thereof

A quad-rotor aircraft and flight controller technology, applied in the field of aircraft, can solve the problems that parameters cannot be self-adjusted, it is difficult to achieve expectations, and the flight attitude of the aircraft is affected.

Active Publication Date: 2016-11-09
GUANGXI NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the uncertainty of the quadrotor aircraft itself and external interference during flight, the parameters in the PID control cannot be adjusted by themselves, thus affecting the flight attitude of the aircraft, and it is difficult to achieve actual expectations.

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  • A quadrotor aircraft and a control method thereof
  • A quadrotor aircraft and a control method thereof
  • A quadrotor aircraft and a control method thereof

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Embodiment Construction

[0058] In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0059] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways than described here. Therefore, the protection scope of the present invention is not limited by the specific implementation disclosed below. Example limitations.

[0060] Refer below Figure 1-2 The quadrotor aircraft of the embodiment of the present invention is further described.

[0061] Such as figure 1 and figure 2 As shown, the quadrotor aircraft 100 includes...

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Abstract

The invention provides a quadrotor aircraft and a control method thereof. The quadrotor aircraft includes a body and an aircraft control module, and a navigation and inertial measurement module, a power module, a communication module and a motor drive module separately connected with the aircraft control module. The main controller module performs synthesis calculation of real-time flight attitude information and control information of the communication module fed back by the navigation and inertia measurement module to output motor control signals to control the motor drive module. The quadrotor aircraft of the invention can automatically adapt to changes of the external environment to modulate flight parameters to reach a predetermined control effect. In the control method, the flight controller module adopts a nerve-based fuzzy self-tuning PID control scheme to calculate a practical output variable to improve robustness of flight of the aircraft.

Description

technical field [0001] The invention relates to the technical field of aircraft, in particular to a quadrotor aircraft and a control method thereof. Background technique [0002] The quadrotor aircraft has 6 degrees of freedom. Four independent motors drive the propellers to generate lift and thrust, so that the quadrotor aircraft can hover in the air and change the flight attitude. It is a kind of multi-input multi-output, strong coupling, under-actuated nonlinear system. PID control is still the preferred control algorithm for most aircraft because of its simplicity, good stability, good robustness and relatively mature technology compared to other control algorithms. However, due to the uncertainty of the quadrotor aircraft itself and external interference during flight, the parameters in the PID control cannot be adjusted by themselves, which affects the flight attitude of the aircraft, and it is difficult to achieve actual expectations. Contents of the invention [...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 赵帅罗晓曙钟海鑫
Owner GUANGXI NORMAL UNIV
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