Research and Simulation on Four Rotor Helicopter Flight control system Qiao Weiwei,Yang feng Abstract Four rotor helicopter(Q uadrotor) is an electric, capable of vertical take-off and landing, multi-rotor unmanned aerial vehicle. In recent years, with rapid development of the flight control theory, electromechanical integration technology and sensor technology, four rotor helicopter has increasingly broader applicational prospects, and has received more and more attention. According to its dynamic characteristics, the mathematical model of a certain four rotor helicopter is established in this paper, and with FPGA chip of CycloneⅡEP2C8Q208C as control core, the hardware system is designed for its four rotor flight controller. Finally through experimental simulation, I have made the performance test and results analysis. The main work of this paper is the following contents: In his paper it divides four rotor flight control system into the rotor control subsystem,sensoring subsystem munication subsystem. Through analysising flight principles, the structures and whole hardware circuits of every subsystems are designed. Principles of strapdown inertial navigation are applied to design vehicle navigation system. Data collected from sensors are integrated for accurately reflecting the current attitude of flight vehicle,and to be used in the next step of the attitude control. In order to solve the defect of attitude angles of navigation system divergent slowly with time, this paper presents the attitude angle correction method, and verifies its validity through experimenting. Mathematical model of the four rotor helicopter system is established in this paper. It analyses the system characteristics from two aspects of dynamics and kinematics so as to obtain the aircraft equations of motion. Aircraft attitude control is the most important part of whole flight control system, four rotor helicopter actually output six charged variables of the attitude parameters and
