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Design of Control System and Research on Control Method for the Quad-Rotor

Author: WangJunSheng
Tutor: MaHongXu
School: National University of Defense Science and Technology
Course: Control Science and Engineering
Keywords: Flying Saucer Quadrotor Flight Control System Sliding Mode Control Fuzzy Control Adaptive control Attitude control
CLC: V227
Type: Master's thesis
Year: 2007
Downloads: 624
Quote: 4
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Abstract


The four - rotor Flying Saucer (Quad-Rotor) is a way to VTOL 's multi- rotor aircraft , particularly suited to perform tasks such as surveillance, reconnaissance , and has a wide range of military and civilian prospects in the near-surface environment . In this paper, for the study, developed by the National Defense Science and Technology University Quad-Rotor the the attitude stability augmentation control problems for the Quad-Rotor , study the following: First, based on the idea of ??modular design , the design and implementation of the flight of the Quad-Rotor control system , including flight control computer , the rotor speed servo control subsystem , sensor subsystem and wireless communication subsystem , and the design and construction of the Quad-Rotor experiment platform . Secondly , based on the Quad-Rotor flight principle , the use of the Newton -Euler equations establish its dynamic model based on the theory of fuzzy sliding mode control (FSMC) Quad-Rotor attitude control algorithm , the effectiveness of the proposed algorithm is verified by simulation , experimental platform using the the FSMC algorithms Quad-Rotor posture stability augmentation control . Finally, in order to overcome the deficiencies based on FSMC posture control algorithm at the direct adaptive fuzzy PI sliding mode control (PI-AFSMC) principle is applied to the attitude control of the Quad-Rotor , a fast discrete tracking differentiator (TD) posture the PI-AFSMC combining control algorithm (TD-PI-AFSMC). The simulation and experimental results show that , compared with the FSMC algorithm , TD-PI-AFSMC algorithm has a better effect of posture control .

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CLC: > Aviation, aerospace > Aviation > Aircraft Construction and Design > Control system
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