Small Uav Control Law Design And Simulation

UAV has wide applications in martial and civil fields.it has attracted great attention at home and abroad, and Many countries study on its related technology.Because flight control system is prerequisite of flight safety,thus the reserch of autonomous flight has very important significance.With a model aircraft as the study object, Firstly, By application of the simulink toolboxs of Matlab,the simulation models is obtained and carried out according to Newton's Second Law and Coordinate Transformation, which include force equations, moment equations, kinematics equations, navigations equations,aerodynamic calculate unite and wind disturbance model.Secondly,this paper linearlized the nonlinearmodel on the basis of trimed model with small perturbation theory,the trimed model is at typical flight conditon. Thus,the State-Space Representation of longitudinal and lateral-directional model is obtained,and at the same time, Realized the order Reduction of UAV model, the longitudinal and lateral-directional linearized model is the foundation of flight control law.Thirdly,this paper discussed how to design the control law with LQR technology, then longitudinal and lateral-directional control law are designed respectively,longitudinal include the pitch attitude hold and altitude hold loop, lateral-directional include bank attitude and heading hold loop. The results of simulation showed that the system have better dynamic character and track capability.Forthtly, The scheme using DSP56F807 as the core processor to realize autopilot system is put forward in this pa- per,then this paper completed the main components'selection and device driver software are researched and realized.At last, a frame of 3d animated simulation system based on OpenGL is built by OpenGL combined Visual C++6.0 exploitation platform and MFC configuration.By RS232 interface the autopilot and simulink model can exchange the data,and the simulink model send the uav information to the animated simulation system by the UDP/IP protocol,so the simulation platform including hardware in loop is formed,this platform can intuitively and real-timely verify wether the control law's quality is good or not,and can help user to improve the design efficiency.