Design of Control System for Constant Speed Variable Pitch Loaded Multi Axis Unmanned Aerial Vehicle Based on Lidar Technology

Design of Control System for Constant Speed Variable Pitch Loaded Multi Axis Unmanned Aerial Vehicle Based on Lidar Technology

연구 분야: Verification

학회: International Conference on Advanced Hybrid Information Processing

In order to ensure the stability of drone flight and improve control performance, a constant speed, variable pitch, and heavy-duty multi-axis drone control system design based on LiDAR technology is proposed. In the hardware design of the system, the power supply circuit for drone control is designed based on the principle of lithium battery charging and discharging circuit and the working principle of SX1308; Based on the mathematical model of drone position control, a control law for the horizontal position outer loop and the horizontal position inner loop was designed. Based on the closed-loop structure diagram of the drone position controller, a drone position controller was designed to ensure that the drone can accurately hover, return, and waypoint flight. In the software design of the system, LiDAR technology is used to extract drone trajectory features, and combined with drone control algorithm design, drone control is achieved. The system testing results show that the system in the article can achieve the expected design goals and improve the control accuracy to over 90%.