Design And Control Of A Small Multi Rotor Unmanned Aerial Vehicle With Variable Structure

The variable structure small multi rotor unmanned aerial vehicle is a kind of aircraft which is characterized by the integration of the vertical take-off and landing and the high speed cruise characteristics of the fixed wing aircraft. Unmanned aerial vehicle (UAV) mainly consists of a main body of the vector system (micro controller and multi sensor measurement unit and real-time airborne flight record module, etc. elements of automatic driving control system) and ground station equipment (wireless transmission unit, remote control device, mission control device) and payload consists of three parts. Aiming at the existing problems of four rotor helicopter flying at low speeds, short range, based on the research on the key technology of four rotor aircraft and based on variable structure speed cruising function development a set of helicopter VTOL and fixed wing aircraft in an aircraft, the aircraft should be able to achieve the following goals to have a number of aircraft:VTOL rotorcraft, multi angle attitude control; the use of fixed wing aircraft can cruise speed, more characteristics of high energy efficiency ratio; free switching features and fusion of helicopters and fixed wing aircraft is flying and hovering two flight control algorithm is developed; in the variable structure of small multi rotor UAV, this paper mainly has the following several aspects:First, the advantages and disadvantages of comparative fixed wing aircraft and helicopter rotor, focuses on the analysis of the structure characteristics of the existing four rotor aircraft, kinetic model and the sensor and control components, based on Kalman filter of signal acquisition and processing and four rotor aircraft attitude control algorithm and the actual flight conditions.Secondly, it puts forward a new achievable attitude and velocity decoupling control of multi rotor variable structure UAV aerodynamic layout and the structure characteristics is adding to a fixed wing and turbofan motor variable structure of unmanned aerial vehicle (UAV) on the basis of four rotor, in level flight on both sides of the fuselage of the double bypass turbofan and wing common inclined forward to generate backward thrust and to lift. The 3D modeling of variable structure vehicle is given, and the prototype of variable structure unmanned aerial vehicle is developed.Then, the study focuses on the effects of variable change of body structure in aircraft in hover and fly the mutual conversion process on the structure of dynamic model, includes the establishment of precise description of the complete dynamic model of changes in body structure, to explore the effect of layout design of dynamic performance and the relationship between control and gives the corresponding control algorithm.Finally, in view of the existing four rotor aircraft sigmoid path planning algorithm designated cruise to be short stay insufficient, make full use of variable structure multiple rotor unmanned aerial vehicle (UAV) high-speed cruise characteristics, attempts to apply the flight state more coherent smoothing the dubins path planning algorithm and simulation analysis.