Research On Control Technology Of Auto Take-off And Landing For High-speed Unmanned Aerial Vehicle

Automatic take-off and landing are the most important stages in the whole flight process for awheel type UAV. Their flight quality is about the recycled and reused of the UAV. During the take-offand landing, it is asked for high accuracy and robustness of the control system, which puts forward achallenge to the controller designing. Therefore, the control of automatic take-off and landing becomea key technology in the flight control direction.This paper takes a kind of small aspect ratio, large sweep angle, tricycle-undercarriage wheeltype UAV as the research object. A ground longitudinal dynamics model model and a6-DOFnon-linear mathematical model have been built, while its aerodynamic, flexibility, operation andmotion mode characteristics are analysed. The automatic take-off control construction is designedaccording to the dynamic characteristics of every stage of the take-off. To improve the safety of thelanding,a kind of landing profile and lateral wind resistance strategy are designed because of the highspeed characteristics.Then the landing control construction is given.Based on the control construction of the UAV, the automatic take-off pitch control law,rollcontrol law and lateral tracking control law are designed using the robust servo LQR and the rootlocus method, then the velocity and pitch velocity are considered and analysed to be protected topromote the safety of the takeoff. The designing of promotion and demotion velocity control law,altitude control law, velocity control law in the landing process are followed. Different kinds ofhigh-accuracy lateral tracking control law constructions are compared and analysed, and yaw anglecontrol and roll angle calibration control are designed. The accuracy and wind resistance ability arepromoted greatly.Finally, to prove the robustness and disturbance resistance ability, it is simulated for theuncertainty of aerodynamic, quality, efficiency of control helm and landing initial conditions on thebasic of Monte-Carlo method,also with wind disturbance added in the simulation environment. It isresulted that the control law is correct and robusted, which can restrain lots of kinds of disturbance.