Research On The Structure Design And Control Algorithm Of Land-air Amphibious Rotary-wing UAV

The UAV is applied in plenty of fields because of the convenience and the reliability.Against this background,this paper present a land-air amphibious rotor UAV.And the most of the works focus on the mechanical design,the establishment of the flight dynamics model and the control algorithm.A land-air amphibious rotor-style mechanical structure is proposed to deal with the problem the UAV will face when fly in the closed space.The UAV can walk on the land through combining with the double-wheel walking structure,while it can protect the UAV at the same time.The finite element analysis is carried on the key components of the UAV,and the result shows that the structure design is well enough to promise the good works of the whole system.This paper establishes the flight dynamics model of the UAV through the aerodynamics and the general dynamics with an assumption and the simplification of the true situation.A double loop frame is presented for control via the analysis of the dynamics model of the UAV and the help of the literature which concerns.The outer loop is a PID controller which is designed to implement the positional move while the inner loop is a SMC(slide model control)controller based on the T-S fuzzy model which is designed to implement the rotational move.The design and the establishment of the hardware and the software are accomplished.The performance of the controller is tested in the MATLAB/SIMULINK,which shows that the controller this paper presents works well.The experiment is carried out to prove the walk ability of the land-air amphibious rotor UAV...