Dynamic Modeling and Simulation Analysis of Four Rotor UAV

Abstract

With the development of unmanned aerial vehicle (UAV) technology, its application field is more and more extensive. At present, UAV inspection has become an indispensable part of the production and operation of distribution network. Most of the UAVs used in the field of distribution line inspection are four rotor UAVs. Because the control system of the four rotor UAV has the characteristics of underdrive, it is difficult to control it accurately. In view of the above problems, this paper has carried out the research on Dynamic Modeling and simulation analysis of four rotor UAV. The working mechanism of four rotor UAV is analyzed. The dynamic model of four rotor UAV is constructed. Taking the cascade proportion integration differentiation (PID) control method as an example, the control system framework of four rotor UAV is established. The relationship between the position and attitude of UAV in the process of motion is analyzed in depth. The attitude control sub module and position control sub module of UAV are designed. The simulation model of four rotor UAV control system is built. The simulation results show that the four rotor UAV has high requirements for the setting rate and accuracy of control parameters. The traditional PID control scheme is suitable for low-speed UAV. However, for the high-speed UAV, the control method needs to be further optimized. The research results of this paper have certain guiding significance for the research of four rotor UAV control system.