In order to realize the self-stabilization control of the four-rotor UAV, the dynamic modeling and control of the four-rotor UAV are carried out. In the modeling, the dynamic simulation model of the four-rotor aircraft is established by using the combination of mechanism modeling and experimental measurement. The inverse kinematics algorithm is used to decompose the attitude model into three independent subsystems, which control the roll, pitch and yaw motion of the body respectively. The sliding mode controller based on the stability theorem is designed for the decomposed subsystems through the distributed control strategy, and the whole system is simulated on the Matlab platform. The simulation results show that the dynamic model and PID controller can effectively realize the self-stabilization control of the aircraft, which lays a foundation for the subsequent control research of the four-rotor aircraft.
Research on key technologies of four-rotor UAV flight control system based on STM32 microcontroller
23.09.2023
2062603 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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