Research Of The Control System Fordoublerotor Unmanned Aerial Vehicle

Tiltrotor aircraft both low-speed maneuverability and high-speed cruising, and is important for the future development direction of the new configuration of the aircraft.Attitude control system is an important part of the tiltrotor aircraft, it is one of the technical difficulties.In this paper, using the NWAFU Twin rotor UAV developed for the study and Electromechanical Mixing Technology, It aims for double-rotor UAV attitude control system research for the study of tiltrotor aircraft flying low in the helicopter mode, vertical takeoff and landing stage attitude control and lay a solid foundation. The main contents and conclusions are as follows:(1) This article presents a simple and easy control program of double rotor UAV, and demonstrate the feasibility of the program,using dual row rotor type(Parallel) symmetrical design. it effectively eliminates the torsional moment from imbalance of single rotor lift, implement the body’s moment balance, choose incremental PID algorithm as the core control algorithm.(2) This article make functional decomposition on hardware system of double rotor UAV attitude control system, the five main function modules is the main chip(flight control computer), AHRS measurement systems, command systems, AHRS operating system, rotor tilting system. and make the corresponding hardware options for each module;(3)This article utilize the MDK uVision5 IDE integrated development environment as software development platform. Through the development mode that direct operating register,detailed divide the software tasks for double rotor UAV attitude control system. On the basis of clear division of tasks, make modular design for each relatively independent tasks and straighten out the program algorithm. In the end, build up the software system architecture.(4) After built up the software and hardware of double rotor UAV attitude control system, then make hardware and software integration, and carry out system commissioning tests. By system commissioning tests, adjust the control parameters of the algorithm, improve and optimize algorithm, analyze change of the PID parameters how to effect the performance of the double rotor UAV attitude control system. Finally,the system obtain the satisfactory control effect on roll and pitch single degree of freedom.