Research On The Design And Control Of Water-air Amphibious Unmanned Vehicle Based On Rotor Drive

Amphibious unmanned vehicle is a new type of vehicle with the ability of air flight and water navigation,The characteristics of water-air amphibious system have incomparable advantages compared with other unmanned systems.Therefore,the research on this kind of amphibious vehicle has great potential application value and important strategic significance in China.At present,there are few research achievements on amphibious vehicles in China.In this thesis,the amphibious vehicle is taken as the research object,and the ducted power device is used as the propeller,which makes the vehicle compact,good concealment and higher efficiency of power system.At the same time,the tilting structure is designed to realize the air flight and surface navigation of the vehicle,and the overall design and related motion control are studied,the main research contents are as follows:(1)Based on the research of amphibious unmanned technology,this thesis developed a tilting culvert water-air amphibious unmanned vehicle.The control system,power system and tilting system of the vehicle were designed.At the same time,the culvert layout of amphibious vehicle in flight and navigation phase was designed.After analyzing the working principle of the amphibious vehicle in the flight phase and the navigation phase,according to the transformation relationship between geographical coordinate system and body coordinate system,the kinematic model of amphibious vehicle was deduced.After analyzing the motion characteristics of amphibious vehicle,according to the aerodynamic characteristics and hydrodynamic mechanism of amphibious vehicle,based on the force analysis,the dynamic models of flight phase and navigation phase of amphibious vehicle suitable for tilting culvert were derived by Newton Euler method,which laid a theoretical foundation for the follow-up motion control research.(2)According to the tilting and variable parameter structural characteristics of amphibious vehicle,an improved ADRC was proposed in this thesis,the nonlinear fal function in ADRC was improved,a new nonlinear nfal function was used to redesign the extended state observer and nonlinear combination part in ADRC.At the same time,the nfal function was introduced into the tracking differentiator to realize the phase compensation and filtering of the signal.Then the attitude controller of amphibious vehicle was designed by using the improved ADRC control algorithm.The control process of amphibious vehicle was divided into three stages: flight stage,navigation stage and transition stage.An improved ADRC controller was designed for the three attitude channels of pitch,roll and yaw of amphibious vehicle in flight stage.An improved ADRC controller was designed for yaw angle and angular velocity channel of amphibious vehicle;It was worth mentioning that a working mode of the vehicle was designed in the transition section,so that the vehicle could stably switch to the state of water navigation after hovering,and better reflected the actual changes in the transition stage.The simulation results showed that compared with the traditional ADRC and PID controllers,the proposed improved ADRC controller had almost no overshoot,and the attitude control accuracy was improved by 92.8% and 46.3% respectively,It was verified that the improved ADRC controller had better control effect on amphibious vehicle.(3)The tilting culvert water air amphibious vehicle and its control system designed in this thesis were verified by experiments.Firstly,the parameter adjustment platform of amphibious vehicle was built and designed.Secondly,the related host computer software was designed,and the setting and debugging of ground station software were completed.Finally,the flight and navigation of the vehicle were tested in the actual environment.The pitch angle,roll angle,yaw angle expectation in the flight phase and yaw angle expectation in the navigation phase of the aircraft were given through the remote control.the vehicle could reach the desired attitude angle within 1 second and follow well.The feasibility and effectiveness of the improved ADRC controller on amphibious vehicle were further verified,and it could realize the attitude control of amphibious vehicle.