Research On Control System Of Take-off And Landing For Polar Buoy Small Aircraft

In recent years,with the support of international projects such as the Arctic Buoy Program,scientists from various countries have placed a large number of marine buoys and sea ice buoys in the Arctic.However,monitoring low-altitude atmospheric parameters and other parameters of seawater under sea ice remains an insurmountable difficulty.With the wide application of the aircraft in the field of aerial photography,we can also see it frequently during the polar expedition.However,due to the limited endurance of the aircraft,it is impossible to achieve the goal of long-term observation and data acquisition.Therefore,it is particularly important to design and develop an integrated buoy capable of measuring atmospheric parameters at different altitudes within 10 meters and snow thickness at sea ice,and for charging small aircraft.This project designs a polar buoy small aircraft control device.The buoy device has a built-in charging device to charge the small aircraft and improve the cruising ability of the small aircraft.The small aircraft carried by the buoy takes off from the buoy cabin and detects the high temperature pressure at different altitudes.,wind speed and direction,sea surface temperature and other parameters.When the small aircraft completes the detection task,it must be determined to drop back to the buoy platform and use the battery inside the buoy to charge;with the sea ice drift,the buoy will have a certain degree of shaking,so how to accurately land the small aircraft back to the shaking buoy becomes a problem.For the problem of accurate landing of small aircraft,this paper transforms the landing problem of small aircraft on the swaying platform from the "plane-to-plane" type of traditional research into the "point-to-point" precision of small aircraft and buoy platform from the perspective of image processing.landing.The small aircraft is equipped with a laser transmitting module and a miniature image acquisition and processing system.Before the small aircraft is landed,the laser emitting module hits the laser beam inside the buoy landing platform,uses the camera to shoot the internal picture of the buoy landing platform,and processes the collected image.Then,the coordinates of the center of the spot are extracted,and the quasi-determined point landing of the small aircraft is realized.The main research work of this paper is as follows:Firstly,this paper analyzes and studies the working principle and structural model of the quadrotor small aircraft,and mathematically models the flight state of the quadrotor aircraft,which lays a theoretical foundation for the subsequent flight control program programming of the PID controller in MATLAB.Secondly,controlling the small aircraft to maintain a stable hover above the buoy landing platform is a prerequisite for the camera to capture a clear picture,and is also a prerequisite for ensuring the accuracy of the image processing results.Aiming at this problem,this paper designs a double closed-loop PID controller,including the design of small aircraft position controller and attitude controller,and builds a simulation model in MATLAB for simulation.By adjusting the PID parameters,the four-rotor small is obtained.The optimum tuning parameters for the four rotor speeds of the aircraft.Aiming at the problem that the traditional single spot edge fitting and center extraction method has low real-time performance and the illumination has a great influence on the spot center extraction,this paper designs a buoy platform center extraction algorithm suitable for arctic pole and extreme night complex environment to simulate the experiment.The program running time is counted,and the obtained central coordinate data is compared to verify the effectiveness of the designed algorithm.Finally,the hardware and software design of the polar buoy small aircraft take-off and landing control system is carried out.With STM32F103C8T6 as the main control chip,the system power supply circuit,the main control circuit of the aircraft control system,the battery voltage acquisition circuit,the boost circuit and the voltage stabilization circuit are designed.Motor drive circuit,gyroscope data acquisition circuit,barometer constant height circuit and communication circuit;software programming including buoy platform control program,small aircraft control program,barometer height setting program,Open MV visual processing program,Open MV and small Aircraft communication program,spot center extraction program,etc.The research results show that the controller designed in this paper can effectively control the small aircraft to maintain stable hovering.The proposed spot center extraction algorithm has high extraction precision and is suitable for extreme polar environments.