Design And Implementation Of Multivariable Vehicle-mounted Take-off System For UAV

With the rapid development of UAV(Unmanned Aerial Vehicle)technology,UAVs play an increasingly important role in the military and civilian fields,and the scope of application is expanding,with a large market size.In the application process of the UAV,the launch phase is one of the most difficult and critical stages,which directly affects the combat performance and survivability of UAV and other operational technical indicators and requirements.At present,the weight of vehicle-mounted take-off UAV is less than 50 kg at home and abroad,which indicates that it is quite difficult to take off by vehicle for 100kg-class UAVs.However,the vehicle-mounted take-off has obvious advantages,which can significantly reduce the use and training cost of UAVs throughout their life cycle,and improve the adaptability of the UAV to the use environment,and win the favor of many users.This thesis aims to achieve the vehicle-mounted take-off of 100kg-class UAV.The system architecture is determined by studying the basic principle of UAV vehicle-mounted take-off.Through modeling and simulation analysis,the effects of environmental factors such as ground roughness and wind load on vehicle take-off are studied.According to the restrictions of UAV and take-off vehicle,and the influence of environmental factors,the design of vehicle-mounted take-off system is carried out.The connecting rod mechanism driven by high torque steering gear ensures the UAV to be fixed safely and reliably in complex and changeable environment,and the synchronization of releasing is less than 50 ms.Through simulation and tests,the resultant force range of key parameters such as lift,pitch moment and roll moment which affect the take-off safety of UAV is determined,and the conditions for safe release of UAV vehicle-mounted take-off are obtained,and a multi-variable composite release criterion is formed.A five-point four-degree of freedom combined measurement system is established by using four vertical sensors and one horizontal sensor.The sliding average method is used to filter,and the parameters measurement of UAV in vibration environment is solved.The vehicle-mounted take-off monitoring software is designed,which receives the GPS data in real time and the force data of the AD collector,and solves the problem by the equation of motion to give the safe release of the UAV.A number of design tests and verification tests are carried out,and the system design is continuously improved to understand the performance and key parameters.The flight test verification work of UAVs is carried out,which have a variety of different weights.In this thesis,a set of large-load four-point positioning locking and synchronous quick release mechanism is developed,which solves the technical difficulties of reliable fixation,synchronous and rapid release in complex environments such as vibration and wind,and realizes the release time control within 140 ms and releases synchronization control within 50 ms.The multi-variable composite release criterion is defined,which is for the UAV's vehicle-mounted take-off,and the corresponding control software is developed,so that it has a good robust characteristics.The vehicle-mounted take-off of the 100kg-class UAV has been achieved,breaking through the weight class of the UAV's vehicle-mounted take-off.