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Design of the Autopilot for a Quad-Rotor Aircraft

Author: YangMingZhi
Tutor: WangDaoBo
School: Nanjing University of Aeronautics and Astronautics
Course: Control Theory and Control Engineering
Keywords: Quadrotor Autopilot Hover Flight control Brushless DC motor
CLC: V249.1
Type: Master's thesis
Year: 2008
Downloads: 958
Quote: 8
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Abstract


Focused on the four - rotor aircraft , light weight, small size, low power consumption , and cost-effective , the overall structure of a digital flight control system . The flight control computer, the basic components of the four - rotor aircraft autopilot . The modular design concept , design and development of the core of the flight control computer -based high-performance microcontroller C8051F020 . In order to facilitate the control , four - rotor aircraft structure symmetrical distribution . This paper analyzes the four - rotor aircraft structure and how it works . Four - rotor aircraft dynamics , kinematics characteristic analysis , nonlinear mathematical model . Introduced four control the amount of the non-linear model is broken down into four separate control channel , and decomposition of the nonlinear model linearized further small perturbation method , draw a quad - rotor aircraft in the hover state simplifies linear model , as the four - rotor aircraft control object to the design of the control system . In close contact with the four - rotor aircraft works and linear model based on the proposed control strategy of the control system and the implementation of programs , the classic PID control method designed four - rotor aircraft attitude control law in hover state and position control law . Analysis of digital simulation results verify the feasibility of the control scheme . Order to adjust the four motor speed to change the attitude and position of the rotor speed , thus controlling the four - rotor aircraft , the paper produced shape the structure of the four - rotor aircraft , sensors , flight control computer , the implementing agency for the core design a physical test platform . Come through the test , the DC motor speed and the relationship of the duty cycle of the PWM wave rotor Rally meet the system requirements , the implementing agency rapid response and continuous identification of the mathematical model of the DC motor inertia link . Tests to verify the functionality and reliability of the hardware and software design rationality .

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CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Flight control system and navigation > Flight control
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