Research On Control Parameter Offline Optimize And Online Adjust Of Unmanned Aerial Vehicles

How to choose the right flight control parameter according to the flight station is the key point that determines the safety in the design of the flight control system for the Unmanned Aerial Vehicles(UAVs).There is a poignant contrast with the boom development of the UAV,it's seems too slow to research the flight control parameter.How to tune and optimize the flight control parameter and correct the deviation in the process of flight still need more in-depth research.This paper had researched the flight control system of UAV and analysed how the flight state and outside environment changes affect the deviation of UAV.The control parameter had been optimized by mixed simulative anneal particle swarm optimization(PSO)algorithm.A new deviation correcting algorithm had been designed to correct the deviation in longitudinal and lateral direction on the analysis of how the balance position affect the system error.Path error under the wind disturbance had been eliminated by using the GPS heading angle for guidance and changing the gain parameter with the error.Last,flight experiments had been carried out for verifying the validity of the content in this paper.As is difficult to tune the parameter of flight controller,this paper used the mixed simulated annealing particle swarm optimization algorithm(SAPSO)to optimize the parameter.First,some research had been done in PSO algorithm to analyse the astringency of a single particle's move track and the parameter's sensitivity.The SAPSO algorithm had been improved from standard PSO and been tested by complicated functions.Then,the controller parameters had been optimized based on the UAV's dynamic model.The results is satisfactory.The control error will appear when the balance position doesn't change with the change of flight station in time.This paper had researched the error correcting method include the theory calculate method and integral method.A new error correcting method had been given on the improvement of the integral method.The numerical simulation results had shown the validity of the new method based on the research in longitudinal and lateral direction.The outside atmosphere environment can cause path error,this paper used the following methods to cancel the effect of the crosswind.One is using the heading angle of GPS velocity,the other is change the guidance law during different path following patterns and change the gain parameter with the error that can decrease the overshoot and enhance the path precision.There is another method is to change the roll control order base on the ground velocity that can quicken the following rate of heading angle and following speed down the wind.At last,this paper had prepared a UAV having an automatic pilot on it for verify the validity of the content researched.The flight experiments had been done around the longitudinal and lateral direction and there are real and credible results that verified the validity of the content in this paper.