Research On Ground Motion Modeling And Controlling Of 4-Wheel UAV

The object of this thesis is a domestic Unmanned Aerial Vehicle with four wheels. The main task of this thesis is ground motion study of the UAV, and designs an effective method of course control to insure safety while taxiing on the ground. According to the main task, this article mainly contains four parts. firstly, the ground motion modeling of the UAV is studied. Secondly, Ground motion course control laws of UAV are designed. Thirdly, the anti-skid brake control law of landing is devised. At last, we implement the simulation of the control laws.Taking full account of affects of all the factors, such as friction, side friction and rotate angel velocity etc, we do comprehensive researches on the UAV's movement and force characteristics, and then the ground motion model is established. While course control laws designed, PID, fuzzy PID and neural network are used, and various control methods are compared. Considering the effects of the UAV's velocity and the road conditions, we design a sliding mode controller based on the optimal slip ratio in anti-skid control study.Finally, we construct simulation system in MATLAB/SIMULIN, and simulate. The result shows that:1,The ground motion model is correct.2,All course control laws can steady the UAV well in the process of taxiing, and the law based on neural network is optimal.3,Anti-skid control law can prevent slip effectively, meanwhile it can provide the greatest braking force, and the best braking effect is achieved.