| Capiable of verticle landing and hovering ability, the ducted fan UAV system, which is popular for its mobility and maneuverability performance, has been playing a significant role in the modern war. Focusing on the system design, a series of research has been carried out in this thesis, the main ideas have been shown as following:(1) The materials and overall layout of UAV has been designed from the view of master design, after which the mechanical and electronic system is designed by using a modular approach. In the design process, a complementary filter based on direction cosine matrix is proposed to solve the problem of attitude determination accuracy loss cased by the high-frequency vibration of propeller. The effectiveness of the algorithm is verified by numerical simulation.(2) A 6DOF dynamic model of ducted fan UAV is established using split modeling method. The aerodynamic characteristics &structure parameters of duct, propeller, vane, and rudder is analysed and calculated. A double-loop attitude stabilizing controller has been designed adopting the PID control method, and numerical simulation has been carried out to test and verify the performance of the control loop.(3) The ground control station of UAV is designed and implemented using object orientation programming techniques. Aiming at flight control and parameters adjustment, capabilities of 3D visual display, aeronautical virtual instruments, navigation maps, online parameters adjustment, and offline numerical simulation are achieved in the software. Joint test result shows that with good real-time and interactive, the software can meet the requirement of ground control system.(4) The block manufacturing and assembling of the UAV is accomplished based on the design content. Flight test is carried out to verify the validity of designed complementary filter algorithm and attitude control algorithm, which shows that the algorithms have good attitude control effect and can meet the desired requirement of the system. |
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