The Thrust Control And Test Of The Unmaned Aerial Vehicle

With the development of science and technology,Unmaned Aerial Vehicle(UAV)is becoming more and more indispensable in both military and civilian fields.In order to adapt the tactical requirement of the high maneuverability and reliability on UAV,this kind of UAV which is with thrust to the mechanism is going into people's eyes.In this paper,the thrust mechanism is designed based on the conventional UAV.Also,the new strategy of flight control and control reconfiguration about the UAV with thrust direction is targeted for the study.In addition,the related results that we get from the semi physical simulation platform provide a strong support to our research.First of all,the mathematical model of thrust vectoring is established based on the conventional UAV model.The static characteristic and dynamic equations are also analyzed.Based on the small disturbance linearization method,the longitudinal and transverse direction of the system is decoupled.The work of balancing the equilibrium point is also completed according to the experimental data.Besides,the thrust mechanism and rocker are all designed for the simulation work in the next chapter.Then,two kinds of flight control scheme are designed about conventional UAV and the UAV with thrust direction from two aspects including the lateral and the longitudinal.The strategies are designed not only on attitude control but also on trajectory control.The UAV with thrust vectoring is more maneuverable than the conventional UAV according to the change of the states about two kinds of UAV during the large maneuver.A scheme about how to design the control allocator by using the method of pseudo inverse is come up in order to solve the problem about rudder failure which occurs in engineering practice usually and the correctness of the scheme is proved by the simulation results.Finally,a semi physical simulation platform is build by using laboratory instruments and equipment which are existing.The part of necessary hardware is directly connected to the test circuit in order to test the advantage about the UAV with thrust direction in practice.Experimental results show that the control allocator which designed by using pseudo inverse method can offset and even eliminate the adverse effects due to the rudder fault.This paper offers reference of design,establishment and improvement of the UAV with thrust direction,and provide a certain value of engineering practice.