Modular control method for four-rotor aircraft

Abstract

The invention belongs to the technical field of unmanned aerial vehicle, and relates to a modular control method for a four-rotor aircraft, wherein the modular control method comprises the steps of (1), supplying electric power for each module of a control board by a power supply and a voltage stabilizing circuit, initializing each module after electrification of the control board, if a calibration signal is received, resetting a gyroscope, otherwise receiving data from a gyroscope module by a master control module and performing Kalman filtering, resolving an inclination angle by means of a quaternion for obtaining the current gesture of the aircraft, applying a four-rotor aircraft flight control method based on a digital PID algorithm, realizing an anticipated system performance through selecting a control gain, and adjusting the parameter of the four-rotor aircraft through upper computer software; and (2) outputting a PWM signal by the master control module according to the PID algorithm and driving a motor to operate through an MOS transistor, simultaneously detecting the current flight angle by the gyroscope module and performing feedback of the current flight angle to the master control module, receiving data from a remote controller by a wireless module and transmitting the received data to the mater control module for performing corresponding action. The modular control method has advantages of reasonable design and scientific principle.

Description

Technical field: [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and relates to a control method, in particular to a modular control method suitable for quadrotor aircraft. Features such as real-time adjustment. Background technique: [0002] Quadrotor aircraft is a six-degree-of-freedom vertical take-off and landing aircraft that can accomplish tasks that fixed-wing aircraft cannot accomplish, such as hovering, low-speed flight, vertical take-off and landing, and indoor flight. For aircraft, the relative quadrotors have the same rotation direction. Compared with traditional helicopters, it has the advantages of simple structure and control, low manufacturing precision requirements, good stability, and weak gyro effect. , traffic management, forest fire prevention, urban patrol and other fields have broad application prospects, and become an international research hotspot. The prerequisite for the quadrotor aircraft to achieve stable...

AI Technical Summary

Problems solved by technology

[0004] (1) In terms of structure: Most quadrotor aircraft on the market adopt an integrated structure. Although this design is convenient for mass production and aesthetically pleasing, it cannot meet the requirements of the majority of quadrotor professional users for the modular disassembly of the aircraft body. When a module on the circuit is damaged, it is often necessary to replace the entire control circuit or drive circuit, which is too expensive for the user to replace, and also causes unnecessary waste;

[0005] (2) In terms of control chips: most of the flight control chips on the market use foreign 16-bit and 32-bit single-chip microcomputers. The high cost also makes the domestic flight control chip market sluggish for a long time

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