Research On Military UAV Track Control System Based On Fractional Order Controller

Our country has a long border,and routine patrols are completed by soldiers.If the UAV is used to realize the automatic cruise and real-time monitoring of our border,the patrol task of our soldiers can be greatly reduced.Under this research background,aiming at the requirement of border patrol for UAV's endurance ability and load-bearing ability,fixed-wing UAV is selected to complete this task.Considering the problem of large wind force and variable wind direction along the border,UAV's flight path is susceptible to wind disturbance,the design and Simulation of UAV's track control algorithm are carried out,and FOPID control algorithm is used to control UAV's flight path.The dynamic performance and anti-jamming performance of UAV track control system are improved by flight path control.Firstly,the kinematics equation of fixed-wing UAV is obtained according to the definition of each coordinate system of UAV,and the kinematics equation of UAV is linearized by small perturbation linearization theory.The state equation of longitudinal and lateral motion of UAV after decoupling is obtained,and the mathematical expression of the controlled object is obtained.Then,in order to improve the control performance of the fixed-wing UAV track control system,the fractional order PI~?D~?(FOPID)controller with more flexible control parameters is selected to control the track control system instead of the traditional PID controller.Aiming at the difficulty of calculating the parameters of FOPID the objective function of UAV track control system is constructed by using error integral performance index,and the parameter calculation of FOPID controller is transformed into a non-linear optimization problem.The parameters of FOPID controller are obtained by solving the objective function by searching algorithm.Finally,aiming at the high order problem of UAV longitudinal and transverse track control system,the model of UAV longitudinal and transverse track control system is simplified,and the reduced model is obtained.The FOPID controller is designed for the longitudinal pitch attitude control system and the transverse tilt attitude control system respectively.According to the principle of inner loop and outer loop,the longitudinal pitch attitude and track control system of UAV and the lateral tilt attitude,course and track control system of UAV are designed and verified by simulation.The simulation results show that the designed track control system has good control performance and robustness.