The Research Of Ejection Takeoff And Skyhook Technology Of Small UAVs

Since the introduction of the Scan Eagle,catapult take-off technology and Skyhook recycling technology have been increasingly applied to small carrier-based unmanned aerial vehicles(UAVs).In this dissertation,a UAV is taken as the research object,aiming at designing a strongly robust take-off and skyhook recovery control technology to achieve safe take-off and accurate recycling.The main contents include:Firstly,establish a typical ship motion model and quantitatively analyze the impact of ship motion on the ideal recovery spot.This dissertation will analyze some performance of the UAV after the establishment of the six-degree-of-freedom model of the UAV.The typical working point of the UAV is selected to provide a theoretical basis for the design of the control law.Secondly,drawing on the safety index of man-machine ejection and taking the performance of the UAV,this dissertation designs the safety criteria for the launch of the UAV.Based on this criterion,a catapult takeoff control scheme based on attitude angle control is proposed.Then this dissertation designs a attitude controller with angular rate as inner loop by using robust servo control and model reference adaptive control.Thirdly,analyze the problems and difficulties in the recovery process of the sky hook,and then design the ideal strike line.On the basis of the attitude controller,this dissertation will design the height controller by using H and H(5)as control variable,and the tracking controller with the track angle control as the main and the side deviation control as the auxiliary is designed.At the same time,the ship motion compensation network is designed to improve the tracking accuracy of the UAV in the ship's motion band.Finally,build a numerical simulation model by using Matlab/Simulink,and the simulation of the catapult take-off control law and the sky hook recovery control law is carried out.The simulation results indicate that in the case of external wind disturbance and parameter perturbation,the UAV can complete the takeoff mission according to the safety criteria,and the recovery control meets the accuracy requirements,and the controller has good robustness and wind resistance.