Research on Attitude Control of Small Four-rotor UAV
Aiming at the problem that small drones can not carry high precision,large volume sensors,and they can not obtain high precision attitude information.Based on the UAV structure and flight attitude control principle of STM 32 SU,the system uses MPU6050 attitude information acquisition module DMP for attitude calculation,and applies Kalman filter technology to improve the accuracy of attitude data.To better select the control algorithm,serial PID control methods were used using the sliding mode control algorithm and LQR control algorithm.The results show that combining filtering algorithm and control algorithm can make small quadrotor drones have better control performance and better stability.Double closed loop structure cascade PID control method can make drones stable in 3 s,with better steady-state characteristics and anti-interference characteristics.