Research On Dynamic Modeling And Control Method Of Small UAV

The flight control system is an important part of UAV. Its main function is to improve the flight quality (including the natural motion characteristics, operating characteristics and disturbance characteristics, etc.), to assist control the track or task planning and so on. High quality of UAV’s flight control system is an important guarantee for safe flight and complex mission.In this thesis, first, we establish a nonlinear dynamics model during the process of UAV’s flight in the air. And according to the equations of motion, we establish linear decoupled packet processing, the movement of UAV is divided into longitudinal and lateral motion. Then, we analyze the basic components of a typical flight control system, introduce the commonly used control parameter tuning methods and use the MATLAB tool to simplify the tuning process. According to the linearized equations of motion, we discuss the control loop composition during the flight of UAV, and design different control law for the longitudinal and lateral motion. Then, aiming at the path planning problem of UAV, we discuss the algorithm of Dubins path planning, and apply the Dubins algorithm for the path planning of UAV’s autonomous flight process. Thus we discuss and design the control method of UAV’s autonomous flight. Finally, we analyze the forces and law of motion of UAV during taking off and landing. And we discuss the control strategy of different segments in each process. According to the results of the discussion and the characteristics of UAV object, we design the control scheme in take-off or landing process ensure that the UAV is able to takeoff safety and landing successful.