Key Technologies Of Intelligent Vtol Unmanned Transport Aircraft Flight Control

VTOL UAV has the characteristics of both fixed wing UAV and rotary wing UAV.It can not only vertical take-off and landing,but also have high flight speed,which has broad development prospects.However,at present,the research on the key technologies of VTOL unmanned transport aircraft flight control is still in the infancy.This paper has carried out a series of researches on this issue,and the main contents are as follows:A conceptual design of VTOL unmanned transport aircraft has been put forward and completed,which has a fuselage of wing-body fusion type and powered by rotated ducted fan,aimed at solving the limited of capacity and space of payload of the small and medium-sized VTOL unmanned transport aircraft in the present stage.The overall layout and related main parameters of the UAV are analyzed and determined,and the aerodynamic force of the wing and fuselage is simulated.Based on the overall conceptual design scheme,the 6-DOF nonlinear dynamics and kinematics equations of the VTOL unmanned transport aircraft are established.The coevolution relationship between the forces and input variables of UAV is analyzed in detail by means of simulation analysis.Combining the dynamical model and the global fast terminal sliding mode control theory,the attitude and position loop control law of UAV are designed,and a dual-mode conversion controller is proposed for the decelerating hover stage.The obstacle avoidance algorithm of UAV landing phase is designed by using ultrasonic sensor combined with monocular camera.And the simulation proves the effectiveness of the attitude and position tracking control system and the obstacle avoidance algorithm.Based on the VTOL unmanned transport aircraft flight control system,an experimental platform for flight control of the UAV is established.Based on the target detection method of Faster RCNN,the model training and recognition test of the real obstacle are carried out,and the excellent recognition performance of the method is verified.The experimental results verify the effectiveness of obstacle avoidance algorithm and attitude and position tracking controller.