Hovering Control Of Morphable Hybrid Wing Unmanned Aerial Vehicle

The deformable composite wing Unmanned Aerial Vehicle(UAV)integrates the advantages of various UAVs,including high-speed flight and long flight time of fixed wings,vertical take-off and landing of multi-rotors,and strong concealment of flapping wings.It is suitable for various practical scenarios,such as map mapping,security inspection,border patrol,forest fire prevention,military reconnaissance,and other fields.Therefore,the research on deformable composite wing aircraft has important practical significance.In this paper,the mathematical modeling,algorithm simulation,and experimental test of the deformable composite wing aircraft are completed based on the practical application scenarios of the deformable composite wing robot and the existing research results.The specific research results are as follows:Firstly,the flight process of morphable composite wing aircraft is divided into eight stages by analyzing the flight state of morphable composite wing aircraft.The coordinate system of deformable composite wing aircraft is established,and the flight principle of deformable composite wing aircraft is analyzed.Based on the coordinate system and flight principle,the mathematical model of deformable composite wing aircraft is obtained.Secondly,the overall control system of the deformable composite wing aircraft is designed.The control system of the deformable composite wing is divided into double loop control,which controls the position variable and angle variable of the aircraft respectively.The complementary filtering algorithm is used to fuse the flight parameters collected by the data acquisition hardware of the aircraft,and the quaternion method is used to calculate the attitude of the aircraft.PID control algorithm and SMC sliding mode variable structure control algorithm are used to control the hovering of deformable composite wing aircraft in different flight states.The control effect is simulated by MATLAB / Simulink software,and the simulation results of the anti-interference ability of the aircraft position and attitude are obtained.Finally,the hardware selection and software design of the deformable composite wing aircraft are carried out,the hardware performance is introduced,the software process is expounded,and the software program flow chart is drawn.Then,the morphable composite wing UAV is tested,and the experiment is divided into three stages.In the first stage,the stable hovering test of multi-rotor is carried out on the test platform built by ourselves,and the fixedpoint hovering at different heights is realized.The second stage is to transplant the successful control system tested on the multi-rotor experimental platform to the prototype of the laboratory,and expand the control system so that the control system can control various states of the morphable composite wing UAV wing.The third stage is to verify the hovering situation of the morphable composite wing aircraft when performing various wing morphing actions in the air.Finally,the indoor and outdoor flight tests are carried out to verify the feasibility of the control algorithm and the software and hardware.