The Study Of UAV Flight Path Tracking Control Method

UAV (Unmanned Aircraft Vehicle) has become more and more widely used in the civil and military fields,the development of UAV has also attracted the attention of countries in the world. The flight path tracking control plays an particular important role in UAV flight, which can further improve the dynamic performance of UAV and provide powerful ensure for UAV accomplishing various kinds of missions safely and effectively. Consider this, UAV flight path tracking control method is studied, and a lot of simulation and analysis has been done.Firstly, in order to facilitate analysis of UAV, the various coordinate systems are described in this paper, as well as conversion between different coordinate system. The force and the torque that UAV suffered are analyzed, and then a 6DOF mathematical model of UAV is established. On this basis, the longitudinal and lateral linear processing are respectively done to UAV with the small disturbance linearization theory, which laid the foundation of UAV flight path tracking control study.Secondly, classical PID and the BP neural network PID control algorithms are studied, and both of these two methods are applied to the UAV flight path tracking control. Additional, the traditional BP neural network PID control algorithm is improved, so its adaptive capacity is greatly strengthened. The longitudinal flight path tracking control and lateral flight path tracking control of the UAV are designed. And in this process, apply"first inside then outside"design principle to design the inner loop—attitude control (pitch or roll) first, and then outer loop. A lot of simulation results is taken, which shows the design of UAV flight path tracking control is very good at tracking longitudinal or lateral performance.Finally, the simulation platform for UAV flight path tracking is designed, which can show UAV flight path tracking process visually, through three-dimensional simulation. In the mean time, because of both the longitudinal deviation and lateral deviation exist for the UAV, the longitudinal and lateral weighting method is used to solve the problem. Simulations and detail analysis are done for the different weights to longitudinal and lateral flight path tracking.