An anti-collision four-axis UAV design based on PID fuzzy controller

International Conference on Manufacturing Technology, Materials and Chemical Engineering

机械制造;材料科学;化学工业

Liu, Minghui^1 ; Zhou, Gang^1 ; Jin, Chuanxi^1 ; Lu, Aijie^1

No.717, Jiefang Avenue, Qiaokou District, Wuhan City, Hubei Province, China^1

关键词: Anti collision;    Fuzzy controllers;    Good stability;    High reliability;    MATLAB /simulink;    Model simulation;    Motion modeling;    Optimal algorithm;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/392/6/062198/pdf
DOI  :  10.1088/1757-899X/392/6/062198

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

The hardware of the four-axis unmanned aerial vehicle (UAV) is based on ARM SCM32f103, and the hardware is designed and manufactured independently. The UAV has the characteristics of high reliability, good stability and strong resistance to damage. The circuit of the UAV includes a gyroscope accelerometer module, an infrared module, a Bluetooth serial port module, a barometer module, and a PWM output module. In terms of control algorithms, a four- axis motion model was established using MATLAB/SIMULINK, and an optimal algorithm was derived for model simulation calculations. That is, the PID fuzzy controller is designed and the fuzzy controller is used to precisely control the speed of the motor. The four-axle UAV judges the damaged propeller through the abrupt change of attitude of the four-axle UAV and enters the fault handling mode. For different destruction situations, the four-axle UAV use the existing undamaged paddles to make the UAV still stable in the sky and landing slowly to protect the UAV, even if one paddle, two paddles, or three paddles are damaged.