Research On Control System For Long-term Drone

Long-term drones are unmanned aerial vehicles that last for more than 10 hours,days,or even months.It is very suitable for the task of accomplishing intelligence reconnaissance and surveillance in modern high-tech local wars,as well as aerial photography and surveying and mapping tasks in the civilian field.In addition to its excellent airframe performance and gliding capability,long-haul UAVs can obtain additional extra energy through solar,wind gradients and updrafts to increase airtime.China has a vast territory,diverse geographical and geomorphological features,and rich meteorological resources.Research and exploration of updrafts is very beneficial.It is also an advantageous condition for the study of long-term drones based on the ascent of rising air currents.In this paper,by modeling the updraft,and combining the six-degrees-of-freedom model of the UAV,the parameter identification and the track optimization of the drone in the updraft are studied,and the drone achieves the energy of the updraft,which makes the long-term flight easier to acheieve.The main research contents of this article are summarized as follows:Firstly,the overall design of the long flight drone is performed.combining the actual situation of this topic,this article completes the completion of the aerodynamic layout design,airfoil selection and control surface layout based on foreign successful design of gliding drones.The geometrical parameters of the fuselage shape are determined by further studying the existing fuselage components.In the professional aerodynamic analysis software,the model parameters of the designed aircraft are modeled and aerodynamic analysis is performed to obtain the required aerodynamic coefficients in the subsequent modeling.Secondly,six-degree-of-freedom simulation model and controller design for drones are established.The UAV's equations of motion are established and the equations between the forces,moments,and the drone's motion parameters(acceleration,velocity,position,attitude,etc.)of the UAV are described,including the kinetic equations and kinematics equations,geometric relationship equations,etc.Based on the complete airframe modelling,the six-degree-of-freedom controller is designed.The control strategy of the individual channel controllers is determined.The inertial coupling characteristics between the attitude motion channels are considered.A complete electric gliding unmanned aerial vehicle controller is constructed,and the whole body model forms a complete machine model,and the stability and accuracy of the controller are verified through simulation.Thirdly,the parameter identification algorithm for the updraft region of the drone is designed.The classification,characteristics and simplified models of updrafts are introduced,and the force conditions and energy acquisition of drones in updrafts are analyzed.Two identification schemes for air flow intensity by drones are introduced and compared.The algorithm of air rising parameter identification based on energy analysis method is introduced in detail,and the identification accuracy and other indicators are verified by simulation.Finaly,the trajectory planning of drones based on the known updraft regional parameters is studied.An unmanned aerial vehicle(UAV)energy assessment system including the real-time calculation of UAV energy,up-stream energy estimation and mission route energy estimation is designed as an index of UAV flight planning.On this basis,the drone path planning problem is studied,a route planning scheme for the UAV in the mission area is designed,an artificial potential field path planning algorithm for UAVs near the updraft region is established,and the drone track parameters of drones in the updraft region are calculated.