Research And Simulation Of Flight Control System For Unmanned Rotation Autogyro

In order to improve the efficiency of field operations such as pesticide spraying and pest control,the research and development of new agricultural machinery has become the main goal of the development of agricultural modernization.At present,small UAVs for small range pesticide spraying has achieved good results,but for the big field operations,the UAV needs good safety,good endurance,low altitude and speed flight and a certain resistance to wind.While the current UAV market is mainly made up of unmanned helicopter,multi-rotors UAV,fixed wing UAV.For unmanned helicopter,although it can fly at low speed and altitude flight,but its aerodynamic principle will produce a strong downward airflow and make damage seriously to the ground crops then affect the operation effect.And due to the multi-rotors UAV’s low wind resistance,low endurance,so it can not do remote operations so that it can not be suitable for farmland operation.For the fixed wing UAV,though it has good endurance but because it can not fly in low speed and low altitude so it is not suitable for farmland operation.In contrast,the rotation autogyro has the characteristics of low speed,good safety,super stol,strong endurance,strong wind resistance,simple mechanism,so it is very suitable for farmland operation.But at present,there are relatively few researches on the unmanned rotation autogyro at domestic and abroad,and there is no mature control theory system of unmanned rotation autogyro.Therefore,in order to solve the problem of flight control system of unmanned rotation autogyro,the rotation autogyro is the research object.the main research contents is the flight control system of unmanned rotation autogyro.The research contents include the study of unmanned rotation autogyro’s aerodynamic characteristics and manoeuvre characteristics,the establishment of the unmanned rotation autogyro’s full scale mathematical model,the design of unmanned rotation autogyro’s flight control strategy,using Simulink to do the simulation and verification of flight control system of the unmanned rotation autogyro.Firstly,using the blade element theory to analysis and research the rotation mechanism of unmanned rotation autogyro.And then the unmanned rotation autogyro’s aerodynamic characteristics and manoeuvre characteristics were studied,the influence factors of the unmanned rotation autogyro’s flight lift and flight altitude were analyzed,mathematical modelsthe were established for pneumatic components which influenced the aerodynamic characteristics of the unmanned rotation autogyro.Then based on the rigid body motion equation,a nonlinear total mathematical model of the self rotating rotor aircraft is obtained,and the use of small deviation optimization method simplifies it.Secondly,according to the manoeuvre characteristics and unique aerodynamic characteristics of the unmanned rotation autogyro,the attitude control loop,height control loop,heading control loop,speed control loop and engine control loop of the autopilot aircraft are designed.A control strategy is designed to reduce the track error in the turn of unmanned rotation autogyro.Considering that the unmanned rotation autogyro may cause unstable body or unstable flight state due to the error of sensor feedback signal during the flight,so the Calman filtering algorithm is introduced to filter the sensor data.Again,using thes Simulink to establish the unmanned rotation autogyro’s model with six degrees of freedom and the unmanned rotation autogyro’s flight control system.In order to test the stability,response speed,control efficiency and ability of the flight over the obstacle of the unmanned rotation autogyro’s flight control system,three kinds of flight paths were adopted to simulate the flight experiments of the flight control system of the unmanned rotation autogyro.The simulation results show that the flight control system of unmanned rotation autogyro has good stability and response speed.The whole system can enter steady state within 10 s after take-off.When big instructions are fluctuated,it can react quickly and make the system get into a stable flight status rapidly,and when obstacles exist on the flight line,it can climb to a safe height before reaching the target obstacle.The test flight experiment shows that in the actual flight,the rotation autogyro can track the preset route,and the observed values can be well stabilized near the set value.It also indicates that the control strategy of the rotation autogyro which designed in this thesis is feasible,which lays a solid foundation for the future development of the unmanned rotation autogyro,and puts forward a train of thought.