Research On Control Method Of Z-shaped UAV

UAV is widely used in many fields of modern life and military because of its low cost,low loss,reusability and high mobility.In order to design the flight control law of Z-shaped UAV,study the application of hardware in the loop simulation on the UAV,form a set of general methods from the given UAV parameters to establish its flight control law and simulation,and carry out research.First of all,through the analysis of the UAV’s flight in the air,the nonlinear differential equation describing the UAV’s flight state is established.The necessary aerodynamic data for establishing the UAV’s mathematical model is calculated by using the aircraft aerodynamic calculation program Datcom,and the nonlinear equation is linearized by using the small disturbance linearization method,thus the UAV’s linear model is established.Secondly,the stability of UAV is judged by observing the characteristic root and adding the interference pulse.It is proved that the mathematical model of UAV is stable and the control law can be designed.Therefore,the longitudinal and lateral control strategies of UAV are designed,and MATLAB / Simulink is used for simulation analysis.Among them,the control algorithm uses conventional PID control and fuzzy adaptive PID control.Experiments show that although conventional PID can complete control tasks,fuzzy adaptive PID has more advantages.Finally,the advantages of hardware in the loop simulation are analyzed by comparing traditional simulation with hardware in the loop simulation.Each part of the hardware in the loop simulation system is selected,and the hardware in the loop simulation system is built.The performance of the control law is analyzed by the simulation curve of the hardware in the loop simulator and the real-time change of the three-axis turntable.The experiment shows that the designed control law can complete the control task well,and the hardware in the loop simulation is more real,intuitive and reliable than the traditional simulation.