Research On Ducted Fan Unmanned Vehicle Autonomous Modeling And Control Strategies

Ducted fan unmanned aerial vehicle has vertical takeoff and landing capabilities. It can hover as well as maneuver around without complicated launch device and call-back system, thus it has unique advantages. It can be widely applied to artillery fire training, army intelligence reconnaissance and battlefield surveillance as well as naval medium-range surveillance. In accordance with the demand of winning in the high-tech regional war, and in order to improve our army's competence of information warfare and to adapt to operational environment in the future, the technology of UAV has been put forward as a strategic long-term plan.This paper takes the research on dynamics modeling and control system. The model of rotor wings is built with the blade theory and momentum theory. With the knowledge of dynamics of rigid bodies, the 6D-model is established. Meanwhile exact analysis of dynamic characteristic is done, and then the mathematical model of ducted UAV is established. As the serious coupling and nonlinear of this model, it is simplified by the theory of small perturbation.Firstly the PID control strategy is used in motion control of the ducted fan UAV. The simulation result shows that the PID control strategy can be used in this vehicle control system, but it depends on the accuracy of system model. Because the PID control strategy is based on the linear of the model. It doesn't have enough flexibility to many uncertainty factors in UAV flight. A strategy with better robust is put forward. Robust control strategy is introduced into the control of the ducted fan UAV. Then the simulation result shows that the robust control strategy can provide a better control to this vehicle and has better flexibility to uncertainty factors. The comparison of two control strategies shows the advantage of robust control in this design.