四旋翼飞行器定高飞行方法研究

Research on the Method of Four-Rotor Aircraft Flying at Fixed Height

此文主要面向四旋翼飞行器的姿态控制、定高控制、悬停控制以及自稳控制的实现方法进行设计,并进一步在飞行器的姿态解算的算法上进行分析,研究过程中使用PID算法来实现四旋翼飞行器稳定控制。本研究在算法的基础上通过上位机对四旋翼飞行器的各项参数进行调试与修正,逐步实现四旋翼飞行器在多种飞行姿态、定高飞行、定点悬停方面达到预期的稳定飞行状态。

This paper mainly focuses on the attitude control, height control, hover control and self-stabilization control of the Four-rotor aircraft,and further analyzes the algorithm of attitude calculation of the aircraft. In the process of research, the PID algorithm is used to realize the stability control of the Four-rotor aircraft. Based on the algorithm, the parameters of the Four-rotor aircraft are adjusted and corrected by the upper plane. The Fourrotor aircraft can achieve the desired stable flight state in various flight postures, fixed-altitude flight and fixed-point hover.