Research On The Simple Flight Control Technonlogy For UAV Base On Angular Rate Gyroscope

UAV owns basic abilities with the help of the primary control strategy, however, in a complicatedflight environment, UAV sensors’faults will badly influence the flight qualities, even threaten flightsafety. To improve the flight performance for UAV in complex environment, this thesis has focused onthe research on control technonlogy for UAV base on angle velocity gyroscope for the purpose ofpreject application, which based on the primary control strategy.Firstly, in this paper, the idea of modular modeling was applied to establish the mathematicalmodel of UAV, and kinetic characteristic and mode characteristic have been analyzed, which canprovide the theory reference for later control law design.Secondly, this paper designed longitudinal controllers based on angle velocity gyroscope, whichbased on the height control as the core of the control strategy. It has adopted height control usingcomplementary filter to augment in the longitudinal. Height control can achieve the longitudinal flightmode of level, climb/decline.In order to meet the requirements of the whole flight envelope, speedcontrol law which based on height control was added.Thirdly, lateral controllers were designed, which based on the lateral track control law. Byreplacing roll angle with yaw angle rate, this paper designed the lateral control law, which was basedon yaw angle rate within the instruction loop. Lateral track control can achieve the lateral flight modeof line and turn. The necessity of adding lateral track control was proved by comparative analysis andsimulation.Finally, the thesis has achieved the flight function in the flight envelop of the UAV by detaileddesigning the implementations of the basic flight modes. and the whole process flight simulation wascarried out in the Matlab nonlinear simution environment, The simulation results indicates that thisthesis has put forward the outside loop control as the core of the flight control scheme, which has thefeasibilities and validity. The lateral and longitudinal controllers designed in this thesis were correctand effective.