Quad-rotor Aircraft Attitude Control System Based on PID Control

doi:10.3969/j.issn.1006-2475.2015.05.025

Abstract

Abstract: The performance of quad-rotor flight has been largely determined by flight control system. By analyzing a flight model, and on the basis of this model, a kind of flight attitude control system based on PID control method was designed and implemented. The whole control system includes quaternion attitude resolving of the first stage (PI) and throttle calculation of the second stage (PID). By fusing the outputs of the acceleration sensor and velocity sensor with PI method, the current flight attitude was calculated out. By fusing the current attitude angle and target attitude angle with PID method, the output values of motors' throttle were set up. The host computer receives flight’s data through Bluetooth. Experimental results show that this system can well maintain the stable attitude of quad-rotor.

Key words: PID, quad-rotor aircraft, attitude resolving, flight control system

CLC Number:

V249

YE Shu-qiu, ZHAN Lin. Quad-rotor Aircraft Attitude Control System Based on PID Control[J]. Computer and Modernization, doi: 10.3969/j.issn.1006-2475.2015.05.025.

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