Research On Adaptive PID Controller For Vtol Tailsitter UAV

Vertical take-off and landing(VTOL)unmanned aerial vehicle(UAV)combine the characteristics of long range,fast speed,long endurance of fixed-wing UAV and convenient vertical take-off and landing of rotary-wing UAV.It has broad prospects for development.But at present,the research on vertical take-off and landing UAV is not complete.Based on the investigation of UAV demand in domestic and overseas market,this thesis selects the tail-sitter vertical take-off and landing UAV as the research object,deduces its flight dynamics equation,and calculates the influence of different propeller rotational speed on the airflow velocity at the rear of the aircraft.At the same time,the PID control methods of various vertical take-off and landing UAVs are investigated.The serial PID control is selected,and the simulation platform of the hybrid control model of the tailstock vertical take-off and landing UAV is constructed by Simulink.In the model,three attitude channels and three position channels are entered into the unit step signal.The PID parameters are adjusted,the step response is observed,and the change of propeller and rudder surface is observed.I find that the unit step response can be quickly convergent and stable,and the overshoot is very small,almost no oscillation.It is proved that the designed flight controller has good stability and the accuracy of the model is verified by the combination of real flight data.In addition,the influence of different PID parameters on the stability of tailstock vertical UAV is analyzed,including the optimal design of PID parameters of each channel of attitude controller and position controller,and the influence degree of different changing trends and different variation amplitude on the stability of UAV channels is studied.The Stability Regulation law of each channel of the tail-seat vertical UAV is summarized,which provides a good parameter indication for the future flight test.