Kinetic Analysis And Control Simulation Of Magnus-effect Based Ducted Fan Aerial Vehicle

UAV（Unmanned Aerial Vehicle）is an aircraft that is able to perform spying，attacking，communication relay，electronic suppression and other military task. It hasbecome indispensable military equipment in modern warfare. Due to need ofadaptability to complex environment in modern battlefield, UAVs trend to be smaller,more intelligent and to cost less in the future. As the ability of vertical taking-off andlanding and hovering, DFAV（Ducted Fan Aerial Vehicle）has gained increasing interestamong professional researchers. Because of low Reynolds number, untypical structureand large variety range of attack angle, aerodynamic effect on DFAV can be nonlinear.Therefore, modeling DFAV is difficult work.This study focuses on a Magnus-effect-based DFAV. The control device used forattitude stabilization consists of four cylinders that are installed symmetrically at the aftof the inside duct. This design can avoid problem of the narrow operation range and thesaturation of ALFs that exist in the previous DFAV model. Theoretically, it cansimplified the control method. This study presents a dynamic model of DFAV, developsa controller and verifies the feasibility of the proposed DFAV model and the associatedcontrol method are determined.First, the structure of a Magnus-effect-based DFAV is introduced. According toMagnus-effect, the magnitude generated by the air is linearly dependent on the angularvelocity of the cylinder. According to the principle of Lagrange-D’Alembert, a11-DOFunderactuated nonlinear dynamic model considering the degrees of freedom for thepropeller and cylinder is presented.Then, this study analyze the proposed nonlinear dynamic model. Given that motioncoupling exists along axes of pitch, roll, and yaw, a simple decoupling strategy based ondynamic model decomposition and cascaded-system modeling is developed.At Last, the feasibility of the proposed DFAV model and the associated controlmethod are determined through numerical simulations based on MATLAB on fullyintegrated nonlinear flight dynamics developed in this study.