Research On The Simple Flight Control Technonlogy Of A Unmanned Aerial Vehicle

Along with the wider application of UAV on the military and civil affairs, low-cost, small-sized and security have become the important directions of UAV development. By simplifying the sensor configuration, the load and cost of the small UAVs can reduce efficiently. On the other hand, when something is wrong with a single sensor, the UAV can also accomplish the flight adopting the reduction system. So the simplification configuration of sensor meets the flight safety of small UAV. For the purpose of project application, this thesis has focused on the IMU-based simplified configuration study.Because of the sensor configuration reduced, the signals of attitude angle can't be measured; the thesis has put forward the outside-loop control as the core of the flight control scheme for the IMU-based simplified configuration. To study the sample UAV, the nonlinear model of aircraft is set up using M language in the MATLAB, the motion and mode characteristics of the sample UAV are analyzed, and the basic control law of simplified configuration is designed. With longitudinal height control, the advantages and disadvantages between augmentation based on altitude change rate and complementary filter are compared. Based on the height control, the thesis has integrated airspeed control to maintain the airspeed. It has adopted tracking control using complementary filter to augment in the lateral. The thesis has achieved the flight function in the flight envelope of the UAV by detailed designing the implementations of the basic flight modes.Using the powerful data processing and function calling of M function in MATLAB, the simulation software is designed in pure M language, and the simulation environment for flight control function is realized in MATLAB. The simulation results have shown that the implementation scheme of flight mode was reasonable.Finally, the thesis has compared the IMU-based simplified configuration control law with the conventional configuration control law. The results have shown that after adding airspeed control, the designed outer-loop-control-be-core theme can achieve the flight mode of take-off, climb/decline, level, line, and left/right turn.