| Navigation guidance and control is an important guarantee for small UAV to accomplish the target of reconnaissance,navigation and positioning,track planning,target attacking and other combat missions.As one of the important functions of small UAVs,autonomous navigation guidance and control is a solid foundation for small UAV to accomplish the given task.The efficient implementation of the control system can provide more accurate and effective data reference for flight simulation experiment,and provide reliable basis and research quality for the design and development of aircraft.The control of the three-axis turntable system is the core part of the semi-physical simulation experiment.The reliability and precision of the semi-physical simulation experiment is influenced directly by the control performance of the turntable.This paper researches the development trend both at home and abroad,and analyzes the principle,structure and function of semi-physical simulation under the background of rapid development on small UAV flight control system and three axis turntable and semi physical simulation technology.Then the kinematics and dynamics equations of flying control attitude of small UAV is studied,and the quaternion calculation and simulation verification of the control of the turntable system is completed.what`s more,the control design and simulink simulation verification for the pitching,rolling and yaw attitude of the turntable are carried out,and the results are compared and analysised with the theoretical calculation values at the same time.The design of hardware control system for three-axis turntable is completed.The MPC08 SP motion control system which based on PCI bus and the lower machine monitoring system which based on STM32 on the platform of the three-axis turntable is designed.the design and drawing of each module circuit and PCB board production by Altium Designer is completed,the real-time communication between upper machine and lower machine through the internet of RW009 wireless WIFI is realized.Then,the real-time motion data of the turntable are compared and analysised,for which the reliability and accuracy of this control system can be improved.The software of computer control system is designed and the experimental testing and analysis is completed.To design the PC control system,C# advanced development language in Visual Studio 2013 software platform is used,also,the PCI interface card driver Windows function library,SPI operation sequence and the drive of WIFI datatransceiver is studied.The test of the upper computer management software shows that the software can meet the real-time control and display requirements of the attitude,and the human-computer interaction performance is better.Finally,on the basis of the hardware and software of control system which designed independent,a semi-physical simulation experiment for turntable attitude control was completed,the experimental results show that it have certain precision on turntable attitude control,the design as well as the control method of the system has good practicability.The cerebellum model of neural network algorithm and traditional PID algorithm is researched and applied to the three-axis turntable attitude control.The cerebellum model of neural network algorithm whose learning ability,stability and robust performance is good is introduced in this paper.CMAC neural network and PID control algorithm is used to realize parallel turntable control,and the MATLAB/Simulink simulation is completed.Through the comparative and analysis of classical PID algorithm,adaptive algorithm and CMAC and PID parallel algorithm,The simulation results shows that the parallel control method of CMAC and PID algorithm through the feedforward and feedback has good effect on error maintaining,stability,robustness and control accuracy and self-adaptive ability of system control,most importantly,it has certain practical and development prospect. |
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