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Quadrotor is a typical underdriven, nonlinear and strongly coupled system. Its attitude control accuracy and anti-jamming problem has been one of the research hotspots. In order to realize the accurate attitude control of small and low-cost quadrotor, the force situation of quadrotor is analyzed in detail, and the nonlinear dynamics model of quadrotor is established by using Newton-Euler equations, The PID controller based on small disturbances is designed, and the results are tested and analyzed by the MATLAB/Simulink simulation model of pitch channel, roll channel, and yaw channel. The results show that the designed control algorithm can meet the attitude control requirements of quadrotor and has good anti-interference performance.
CHEN et al. (Wed,) studied this question.