Design And Research Of UAV Autonomous Navigation Control Loop

With the continuous development of UAV control systems and airframe structural materials,UAV have gained broad application in military and civilian fields.In military and civilian fields.As the complexity of the UAV mission is increasing,so performance and flying qualities requirements of autonomous flight control systems continues to increase.As a core part of the UAV control system,UAV autonomous navigation control loop controls the ability to directly affect the quality of UAV flight.Therefore,UAV navigation control system has been extensively studied in home and abroad.At present,there is still exists a certain gap in UAV autonomous flight capability and quality control in the country when compared to abroad,therefore,this paper use UAV as a control object,in deep study on UAV autonomous navigation control loop based on Intelligent PID control algorithm modeling and simulation,and applied autonomous navigation control loop to the actual flight control system.Using HIL Simulation and real UAV test conducted a comprehensive analysis and verification to navigation control loop autonomous flight control(1)Describes the UAV Model assumptions,space motion coordinates,motion parameters and control variables.Subsequently,according to the twelve-order complex nonlinear equations of general layout UAV,under the assumption of small perturbation,divided the UAV movement into vertical and horizontal movement,ignore the coupling term of vertical and horizontal movement and other higher-order terms in equation,simplified the motion equations to twelve-order linear equations.Finally,based on the simplified linear equations,draw vertical and horizontal movement of the model matrix according to the actual parameters of UAV.(2)Describes the common tuning PID control method such as Ziegler-Nichols,decay curves method and phase margin method.According to the actual situation of UAV,analysis of the shortcomings of traditional PID control algorithm in the presence of flight control,and introduced the integral separation,anti-windup and speed integration PID control algorithm,then integration the three control algorithms,formed the intelligent PID control algorithm for UAV navigation control system using in this paper.(3)According to the UAV motion matrix,divided navigation control loop into vertical and horizontal control loop then separated design,based on the pitch angle and roll angle control loop existing in the flight control system,after determine the height control strategy and heading control strategy,respectively designed the height control loop and headingcontrol loop in autonomous navigation control loop.Subsequently,using intelligent PID control algorithm to optimize the performance of the control loop,design the navigation control loop base on intelligent PID control algorithm,via Simulink simulation,validate its superiority on the control performance compared to the conventional PID control algorithm.(4)To verify the autonomous navigation control loop performance in actual flight,using HIL simulation to verify navigation control performance and implementation of the mandate loop designed in this paper,and adjust the parameters in the navigation control loop to get better control performance.On the basis of the HIL Simulation,applied the autonomous navigation control loop into the actual flight test.By analysising each parameter in navigation control loop during UAV autonomous flight to verify the performance of the control system.This paper do a more complete study for UAV autonomous navigation control loop,based on the UAV mathematical model,design autonomous navigation control loop based on intelligent PID control algorithm,and verify the reliability of the autonomous navigation control loop designed in this paper by HIL Simulation and practical test.In order to play some reference on design implementation and performance optimization for UAV autonomous navigation control loop.