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

A quadrotor aircraft, complementary filtering technology, applied in instruments, non-electric variable control, attitude control and other directions, can solve the problems of small size, low flight speed, complex aerodynamic principles of small UAVs, etc., to improve stability , the effect of increasing system stability and avoiding errors

Inactive Publication Date: 2017-02-22
HANGZHOU DIANZI UNIV
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AI Technical Summary

Problems solved by technology

Due to its relatively low flight speed and small size, the aerodynamic principles of small UAVs will be mo...

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

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Embodiment Construction

[0016] The present invention will be further described below in conjunction with accompanying drawing.

[0017] Before controlling the quadrotor, it is necessary to first calculate the body attitude. The direction, angle, speed and other information of the body need to be accurately described through a coordinate system. Take the center of mass of the body as the origin, and the direction of the nose is the positive direction of the xb axis to establish the carrier coordinate system B: [xb, yb, zb], and use the global coordinate system of the ground as the reference coordinate system L of the system: [xl, yl, zl ], the flying range of the airframe is relatively small, the curvature of the earth can be ignored, and the attitude information of the airframe can be obtained through the conversion between the two coordinate systems. The three Euler angles describing the attitude of the body, that is, the pitch angle (Pitch), the roll angle (Roll), and the yaw angle (Yaw) are repre...

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101
Inventor 张文鹏
Owner HANGZHOU DIANZI UNIV
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