Research On The Control Technologies Of Small High-speed UAV And Cooperative Formation Flight

As the miniaturization and high-speed of unmanned aerial vehicle, small high-speed unmanned aerial vehicle plays a more and more important role in military and civil field with its unique characteristics. Multiple unmanned aerial vehicles cooperative formation flight, which can improve the efficiency of the unmanned aerial vehicles to complete the task, have a broad application prospect in military and civilian and have been attracting more attention. Based on a certain type of small high-speed unmanned aerial vehicle in the laboratory, this thesis outlines the research object’s mathematical modeling, cooperative formation flight modeling. This thesis also focuses on small high-speed unmanned aerial vehicle’s control law design and its formation flight control design. The thesis does the simulation test and analyzes the results.First of all, according to the six degrees of freedom with twelve-order differential equations, the mathematical model is established. The equations are divided into the horizontal and vertical by using small disturbance theory. Then the stability and the maneuverability of the UAV are discussed.Secondly, in the view of the unmanned aerial vehicle formation flight, this thesis analyzes the influence of interference factors in the process of unmanned aerial vehicle’s formation flight. The model of basic formation flight and the model of aerodynamic coupling effects are established respectively. The thesis simulates the two kinds of models, and then analyses the aerodynamic interference effect on the formation flight.Then, because of the small inertia, damping and the difficulty of the control, the inner loop control law is designed. Because of the interference effects, an improved robust servo LQR control method is proposed.This method combines the robust servo LQR control and model reference adaptive control, which makes the system gets a better control performance.Finally, this thesis pays attention to the controller design of the UAV formation flight in the same horizontal plane. The thesis discusses adaptive control method under two kinds of cases:unknown aerodynamic coupling parameters of internal formation flight system and unknown model of formation flight system.The control effect of the formation controller has been proved by simulation.