Supervisor : Chen YI,Overview Of The Development Of Quadrotor,Auther : Li Wei,Date: Nov 27 , 2014,CONTENT,The research background of quadrotor,Quadrotor is a kind of UAV which involves four rotors, also called four rotors or X4-flyer. At the beginning of 20th , some scientists had carried out research on the quadrotor, however, a lot of experiments were proved to be failed in virtue of lacking of accurate control and sensor technology. The worlds first quadrotor was introduced in Fig. 1-1.,Fig. 1-1 Breguet-Richet Gyroplane No.1 1907,With the rapid pace of modern technology, the development and application of Quadcopter has entered the public consciousness, become a new research focus in the world rapidly. The aircraft has great application prospect in the field of search and rescue missions, weather monitoring, geodesy, military application. At the same time, act as carrier scientific research, we can carry out experimental study of advanced control techniques and robotics fields. So we can firmly believe that the aircraft can play a significant role in the field of future life.,The development status at home and abroad,A aircraft designed by Daniel Mellinger, Nathan Michael and Vijay Kumar in the GRASP Lab is shown in Fig. 1-2 . It can do attitude detection through IMU(Inertial measurement unit), achieve stable flight, flip barrier, target recognition and landing and other functions, has strong ability of control stability and robustness.,Abroad,Fig. 1-2 aircraft designed by University of Pennsylvania,Gabriel M. Hoffmann, Steven W. Waslander and Michael P.Vitus are come from Stanford University. They design a aircraft which fly indoor automatically. They combine the information provided by GPS/INS/EC through the extended Kalman filtering algorithm so as to control the stability of aircraft. The aircraft can travel independently through the waypoint preset, meanwhile, it can transmit the flight parameters and image information to mission station real-time through Wi-Fi. We can see the picture in Fig. 1-3.,Fig. 1-3 aircraft designed by Stanford University,Home,The domestic research of four rotor unmanned aerial vehicle is at the start stage , technology level is relatively low, but our country are trying to study this kind of aircraft. It is of great significance to do this in the forthcoming future. National University of Defense Technology, Harbin Institute of Technology and Beihang University are the leaders in our country.,The composition and flight principle,The composition of the aircraft is not difficult to understand, the main components (hardware) are shown in Fig. 1-4.,The four rotor frame,Propeller,Brushless electronic regulator,Motor,battery,Acceleration transducer,The attitude control of the aircraft,Hover state,Yaw,Pitch / roll,Up / Down,Flight principle,The key technology of aircraft design,The aircraft mainly involves a lot of fields such as , aerodynamics, vehicle system modeling, mechanical structure design, motor drive system design, low cost integrated navigation system research, information fusion and control system design. At present , there are several key points about the research on aircraft. Design of low cost integrated navigation system based on MEMS sensor. The aircraft has higher requirements for the control of motor speed and out power. 3. The problem of trajectory tracking control.,Thank you for your listening !,Best wish for you !,