Design Modeling And Control Of Combined Unmanned Aerial Vehicle

As a national strategic high-tech industry,the UAV（unmanned aerial vehicle）industry occupies an important position in emergency rescue,communication relay,logistics and transportation,agriculture,and military.However,traditional multi-rotor UAVs often need to prepare a variety of different specifications of UAVs to adapt to the transportation of goods of different weights due to their own load performance limitations or system power limitations,or face many challenges in the face of narrow spaces without the ability to pass and repair.There are many short boards.In this paper,a composable UAV is proposed to reduce the cost and simplify the structure to improve the load capacity of the UAV and increase the tilting and hovering ability,and conduct in-depth research on model establishment,control distribution,physical design and construction,and experimental verification..The research contents are as follows:（1）Research the real-time structure identification method and dynamic control distribution mathematical model establishment method of combined UAV.Compared with traditional multi-rotor UAVs,combined UAVs have structural changes that lead to changes in control models.Traditional fixed and single control schemes are difficult to ensure stable operation of combined UAVs.In this paper,a real-time structure identification and dynamic control assignment method is proposed,a mathematical model is established and a simulation verification is given.（2）Design and combine UAV mechanical structure,hardware system and physical construction.This paper uses SOLIDWORKS to complete the design of the mechanical structure and connection structure,selects STM32F405 as the core master to design the flight control hardware circuit,and finally uses the carbon fiber square tube as the basic frame material to build several combined UAV objects.（3）Design flight control systems and write control programs.In this paper,the flight control structures of the basic unit flight state,the horizontal connection flight state,the longitudinal connection flight state and the hybrid connection flight state are respectively given.The cascade PID is used as the flight control law for this time,and the hardware of the flight sensor is designed in C language.Read and write and overall control programming.The whole aircraft control and scheduling system is programmed by using the FREERTOS real-time operating system.（4）Carry out physical test and flight data analysis of combined UAV.In this paper,an indoor experiment is carried out for the designed and manufactured combined UAV,the combined flight test and the tilted hover test are carried out,and the position,speed and angle data during the flight are collected and compared,and the mean variance analysis is carried out.In contrast,the experimental results verify the correctness of the real-time structure identification and control assignment method proposed in this paper,and verify that the combined UAV can perform combined flight,the stability is close to that of the conventional quadrotor aircraft,and the maximum tilt and hover angle can reach ±25°（angle）.The combined unmanned system has the advantages of power redundancy,high safety,inclined attitude hovering ability,and can be disassembled and reorganized,which can further reduce transportation costs.Application performance,broad prospects.