Design And Research Of Small Seaplane UAV Flight Control System

Small seaplane UAV is a special aircraft that combines some characteristics of seaplane and UAVs.It has good maneuverability and accessibility for seaplane,and it has the characteristics of light and convenient and low risk of UAV,so the effect on water works is very well.In water works,it is necessary to have a stable attitude.The attitude measurement by strapdown inertial navigation technology is a hot spot of research at home and abroad.In addition,seaplane UAV needs to be designed in water gliding from the air to water.Otherwise,accidents can be caused easily.After reading a large number of seaplane literature and related UAV literature,and analyzing the status of domestic and foreign seaplane,this topic puts forward mainly about the design of flight control system,attitude research and control rate design of small seaplane UAV.Firstly,the transformation relationship of the seaplane UAV's coordinate system and the basic principle of strapdown inertial navigation system are introduced in detail.Then the method of solving the attitude of UAV(Eulerian angle method,direction cosine method,quaternion method)is performed.One by one analysis and comparison,and finally in-depth study of the quaternion method are given to solve the specific steps.In the design of UAV flight control hardware,a master-slave microprocessor(ARM+DSP)is used as the core.In the collection of external information,there are mainly MIMU unit modules,barometer modules,and GPS(the Global Positioning System)modules,plus power supply modules,serial ports,communication module,JTAG module,servo drive module and LCD module.All of them form a complete flight control circuit.The system software part is written and compiled using a common program development platform.For each sensor module,its performance parameters are tested in a static state.The collected and saved data are simulated in MATLAB.The GPS module tests the single navigation and dual navigation on its precision,and the data collected is finally displayed by the LCD module.At the end of the project,the focus is on the design of posture and the control rate of watering.The error of the independent gyro test data is relatively large,so it is necessary to correct the error,assist the correction through the nine-axis information data,and then perform data fusion and integrated navigation.The final test result shows that the integrated navigation have higher accuracy.In addition to flying in the air,seaplane UAV can also slide on water.This can lead to unstable movements in the water flow from the air to the water.This is very dangerous and requires the design of control rates.The hydrodynamic equation of the hydroplane was established.According to the flight characteristics of different stages of the water,a high degree of control loop and attitude control loop were designed through PID algorithm control.The simulation was performed under MATLAB/simulink.The simulation results showed the rationality and reliability of the control rate design.