Design Of An UAV Attitude Control System

In recent years, with the highly requirements for combat mission and the rapiddevelopment of photoelectric technology, computer technology, guidance technology andrecognition technology, many countries around the world put more emphasis on research anew type of unmanned combat weapon, which integrates scout, damage assessment, preciseattack, communication, relay station, target designation and airborne alert. Based onexisting conventional weapons platform, this paper proposes a new type of unmanned aerialvehicle that integrates UAV technology and ammunition technology, and studies the attitudecontrol system of this UAV.First, based on Newton second law, Momentum Theorem and Theorem of Moment ofMomentum, the kinematic model of the UAV, which consists of kinetic equation, variablemass equation andgeometry equation, is built up.Second, after the linearization of the kinematic model, the dynamic characteristics ofthe UAV longitudinal disturbance motion is analyzed by analytical method and coefficientmethod. Summarize the basic norms of dynamic characteristics, and the characteristics ofshort-period disturbance motion and long-period disturbance motion.Third, based on automatic control theory and H robust control theory, an attitudecontrol system of an UAV is designed and simulated. Then an attitude controller of theUAV based on the method of H mixed sensitivity is designed to keep the UAVlongitudinal disturbance motion stable and robust.Finally, an UAV hardware-in-the-loop simulation attitude control system, whichconsists of three-axis turn table, target simulator and simulation computer and so on, is builtup. Then thehardware in the loop simulation experiment is taken to realize the closed-loopcontrol of the UAV, which guarantees the rapidity, stability and accuracyof the attitudecontrol system.