Method for controlling quadrotor aircraft by vector rotation method

Abstract

The invention provides a method for controlling a quadrotor aircraft by a vector rotation method. The method comprises the steps that Roll-direction controlled quantity and Pitch-direction controlled quantity which are received by the quadrotor aircraft and sent by a remote control unit are converted to be vectors; the vectors correspond to the X direction and the Y direction in a coordinate system respectively; then the vectors are rotated and then are mapped again to a new coordinate system X'Y' according to the rotating angles of an aircraft body to control the entire aircraft body to advance, retreat, fly leftwards and fly rightwards.

Description

technical field [0001] The invention relates to a method for controlling a quadrotor aircraft, in particular to a method for controlling a quadrotor aircraft using a vector rotation method. Background technique [0002] Quadrotor aircraft is a non-coaxial multi-rotor aircraft capable of vertical take-off and landing. The structure is as follows: figure 1 As shown, it can control the flight attitude of the quadrotor aircraft only by adjusting the speed of the four rotors distributed in a butterfly shape. It is a nonlinear underactuated system with six degrees of freedom and four control inputs. The main problem of external and self anti-interference sensitive characteristic control is to solve the strong coupling and unstable dynamic characteristics. Since the tail is not required, the structure of the quadrotor aircraft is more compact, and the lifting force of the four rotors is more uniform than that of the single rotor, so the flight attitude is more stable. In addition...

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Problems solved by technology

[0003] The forward and backward movement and lateral movement of the quadrotor aircraft make the aircraft tilt at a certain angle in the corresponding direction, that is, the horizontal angle detection device on the body measures the inclination angle along the X direction and the Y direction. The left and right controls correspond to the inclination angles of the X-type quadrotor in the Y and X directions respectively. For the physical control of the nose, tail, left and right directions, refer to figure 1 , that is, the head corresponds to motor 1 and motor 4, the tail corresponds to motor 2 and motor 3, the left side corresponds to motor 1 and motor 2, and the right side corresponds to motor 3 and motor 4. When moving forward, push the direction stick of the remote control forward, and the aircraft will move away from the operator; when the direction stick is pulled back, the aircraft will fly towards the operator, but when the body rotates at a certain angle like Figure 8 As shown, the remote control stick is pushed forward, and the aircraft will fly to the left front, which is difficult for novices to control

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