Research On The Lateral Flight Control Technonlogies Of A Small High-speed Unmanned Aerial Vehicle

There are two major difficulties for the small high-speed UAV’s lateral control,one is that theUAV’s cross-lateral moment of inertiaI xxis too small,which cause the roll movement frequencyso quickly that increase the difficult of the roll control;The other is that the small size UAV cannot install the posture sensor verticalgyro,resulting in cross-lateral control can not get the rollangel signal.This paper has designed and researched a small high-speed UAV lateral control lawin the light of the difficults of the small high-speed UAV.First of all, this paper establishes a sample UAV mathematical model, analyzes its lateralstability and control characteristics, focuses on analysising the different lateral characteristics dueto lateral rotational inertiaI xxis too small,and lays the foundation for the design of the lateralcontrol law.Secondly, according to the difficulty of the sample UAV’s roll control,this paper designs thelateral control law of the full configuration UAV.The full configuration UAV’s lateral control lawincludes conventional control law based on roll rate damping inner loop and the new control lawbased on rolling angle rate within the instruction loop. Through analysis and comparison, it isproved that the later control law is more suitable for small high speed UAV.Again, according to the difficulty that the sample UAV cannot obtained the roll anglesignal,this paper designs the lateral control law of the simplified configuration UAV based onrolling angle rate within the instruction loop.This control law realizes the lateral control does notdepend on the roll angle feedback and guarantee the flight safety,it’s the sample UAV’s eventuallylateral control law.Finally, in the MATLAB simulation environment based on M language, the designed controllaw is validated by simulation, the simulation results show that the simplified configuration lateralcontrol law has good control effect, can realize the safe flight of UAV.