Research On Vertical Take-off And Landing And Hovering Control Of Small Tailsitter Unmanned Aerial Vehicle

The tailsitter unmanned aerial vehicle(UAV)has the advantages of both fixed wing aircraft and rotor aircraft,not only by virtue of its VTOL capability greatly to get rid of dependence on aircraft take-off conditions,but also has the hover work ability and high speed,high efficiency and large range of cruise capability.All of these features make the tailsitter UAV have a wider range of applications.With its strong advantages,it has been widely concerned at home and abroad.Because the tailsitter UAV vertical take-off and landing characteristics and can freely switch between modes of vertical and horizontal flight are very similar to those of the bombs.Therefore,it is proposed to be used as an experimental verification platform for simulation of missile gliding flight and guidance control algorithm.This article focuses on this,and studies its vertical take-off and landing and hover.Firstly,according to tailsitter UAV's flight characteristics,the control structure and the overall aerodynamic layout are studied and designed.The control mechanism is selected according to the control structure,and the analysis and modeling of the actuator are carried out.At the same time,the aircraft parameters are obtained by experiment and software simulation analysis,and the mathematical modeling of the six degrees of freedom is finished.Then,the control system design of the tailsitter UAV is completed,and the simulation test and parameter setting of each channel controller are carried out under the MATLAB environment combined with the established mathematical model.At the same time,this paper proposes and implements a new attitude calculation algorithm suitable for tailsitter UAV,and the algorithm solves the singularity problem of Euler angles in aircraft maneuvering with large pitching angle.Then designs and implements the correction algorithm of the attitude calculation algorithm.Finally,the whole system test and verification work of the aircraft is completed.The simulation of the whole system of the aircraft and the flight test validation of the aircraft are completed in turn.Then the correctness and feasibility of the preliminary design are illustrated by the simulation data and the real flight data,and the deficiencies and improvements in the preliminary design are found out according to the experimental verification results.