Complementary filtering algorithm and cascade PID based four-rotor aircraft design method

Abstract

The invention discloses a complementary filtering attitude fusion algorithm and cascade PID control algorithm based mini four-rotor aircraft control system. The fusion algorithm can effectively fuse angular velocity information outputted by a gyroscope and acceleration information measured by an accelerometer to compensate error of the two, and long-term accurate and stable attitude information is obtained. The cascade PID control algorithm takes an angular velocity loop as an inner loop and an angular loop as an inner loop, inner loop feedback is acquired directly through an angular velocity transducer, introduction of error is avoided, and output of the outer loop is directly taken as input of the inner loop. Control accuracy and stability of the system are improved effectively.

Description

technical field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a design method for a quadrotor aircraft based on a complementary filtering algorithm and cascaded PID. Background technique

[0002] In recent years, with the advancement of electronic science and technology, advanced material technology, wireless communication technology, automation technology, and digital signal processing technology, small quadrotor low-altitude unmanned aerial vehicles have developed rapidly, and have broad application prospects in military and civilian fields . Compared with traditional helicopters, it has its own advantages: when the front and rear rotors rotate counterclockwise, and the left and right rotors rotate clockwise, the torque generated by the rotors themselves will cancel each other out. Then the tail rotor and rotor tilt problems can be ignored. However, the movement of the small quadrotor aircraft involves the r...

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