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  4. Vol 8, Issue 6, 2024

Research on Visual Flight of Cascade Control of Quadrotor UAV Based on Coordinate Transformation

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DOI: 10.23977/acss.2024.080619 | Downloads: 18 | Views: 624

Author(s)

Fang Zeping 1, Guo Chengquan 1, Liu Wenyuan 1

Affiliation(s)

1 School of Automation and Electrical Engineering, Zhongyuan Institute of Technology, Zhengzhou, China

Corresponding Author

Fang Zeping

ABSTRACT

Aiming at the problem that it is difficult for quadrotor UAV to directly observe the real-time flight posture and debug the flight control algorithm when flying at high altitude, the structural relationship and motion analysis of quadrotor UAV are established based on coordinate transformation theory, and the cascade control algorithm of PID and backstepping controller is adopted, and the flight control of quadrotor UAV is simulated and verified visually by Solidworks and Matlab/Simscape. In order to analyze and compare, the body model of quadrotor UAV is built under Simulink and Simscape respectively, and an 8-shaped expected flight trajectory based on trigonometric function is designed. The experimental results show that the quadrotor UAV body constructed by Simulink and Simscape respectively has the same flight effect under the control of the same algorithm. Generally, only numerical simulation results are obtained under Simulink. Under Simscape, not only numerical results can be obtained, but also 3D visual simulation results can be given. The flight ability of quadrotor UAV is related to the control algorithm and the expected tracking trajectory, and the expected control goal can be achieved by selecting different control algorithms or adjusting the parameters of the control algorithm. The tracking trajectory flight effect of quadrotor UAV is closely related to the response time. The control algorithm with shorter response time has better tracking effect. The response time of the control algorithm in this paper is short, and the tracking effect is good. The simulation system in this paper is intuitive, accurate and reliable, and can study and test the control algorithm well, which is of great value to the research of quadrotor UAV and control algorithm.

KEYWORDS

Quadrotor UAV, Visualization, Cascade control, Backstepping control, PID, Simscape

CITE THIS PAPER

Fang Zeping, Guo Chengquan, Liu Wenyuan, Research on Visual Flight of Cascade Control of Quadrotor UAV Based on Coordinate Transformation. Advances in Computer, Signals and Systems (2024) Vol. 8: 137-158. DOI: http://dx.doi.org/10.23977/acss.2024.080619.

REFERENCES

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