PID-based design method for four-rotor aircraft control system

• Main Authors: TIAN NONG, LIU BOWEN, WANG XIN, WANG XUEXU, QU XINGTIAN, LI JINLAI, DU YUXIN, ZHANG KUN
• Format: Patent
• Language: Chinese; English
• Published: 25.01.2019
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention discloses a PID-based design method for a four-rotor aircraft control system. The PID-based design method comprises the steps of: step 1, performing theoretical analysis on four basic flight attitudes; step two, putting forward a dynamics model, a kinematics model and a state equation model of an aircraft body; step 3, designing a control system of a four-rotor aircraft; step 4, designing suitable PID control channels for different models; step 5, verifying that a PID control algorithm has better adaptability and stability in aircraft body flight attitude control by means of simulation experiment results. The PID-based design method has the beneficial effects of reflecting a flight mechanism and space attitude of the four-rotor aircraft better, and simplifying the process from design, control to implementation; the constructed simulation models are streamlined and efficient, and can be directly applied to the actual flight of the four-rotor aircraft; and the flight attitude is adjusted timely, t