期刊名称：IOP Conference Series: Earth and Environmental Science
印刷版ISSN：1755-1307
电子版ISSN：1755-1315
出版年度：2019
卷号：252
期号：5
页码：1-9
DOI：10.1088/1755-1315/252/5/052005
出版社：IOP Publishing
摘要：Aiming at the problem of poor stability and low control precision of small quadrotor, a set of flight control system based on (Non Linear Active Disturbance Rejection Control, NLADRC) was designed. Firstly, On the basis of analysing the principle of quadrotor flight, a mathematical model of small quadrotor was established. Secondly, the hardware system was designed modularly, the hardware of each module was selected. Then, the quaternion attitude calculation algorithm was used to fuse the attitude data of the accelerometer and the gyroscope, and the four channel (pitch, roll, yaw, height) were controlled by the NLADRC. Finally, the experiment showed that the quadrotor can fly smoothly in the mode of hover.
