Research on control strategy of four rotorcraft tracking ground moving target

Abstract

In order to enable the four rotorcraft to track the ground moving target, the spatial position control strategy of four rotorcraft is studied. Firstly, the attitude PID control of the four rotorcraft is improved and the appropriate parameters are set, which makes the rudder response of the four rotorcraft more rapid. Then, the OpenMV is used to obtain the position of the ground moving target relative to the aircraft, and the feedback signal of the ground moving target is obtained. Finally, according to the comparison effect between the single-stage PID and the cascade PID control vehicle to track the ground moving target, the cascade PID control vehicle is selected to track the ground moving target. Experiments show that the control strategy can enable the aircraft to track a certain speed of the car. It has a certain practical value.

Keywords

• four rotorcraft
• responding speed
• OpenMV
• hover
• track