Research On The Structure Design And Motion Control Of A Separate Amphibious Unmanned Reconnaissance Vehicle

Due to unmanned reconnaissance devices' convenience,safety,efficiency and reliability,they are widely applied in military reconnaissance,environmental detection,fire search and rescue and other filed.In order to meet the requirements of multi-domain synergy and threedimensional reconnaissance in the future,this paper proposes a separate amphibious unmanned reconnaissance device.The most of works focus on the mechanical structure design,the establishment of flight dynamics model,the control algorithm and the recognition algorithm.Aiming at the problem that the airspace reconnaissance is limited by space and its environment adaptability is poor;the land reconnaissance device is affected by the terrain,a reconnaissance device with an amphibious separation mechanical structure is proposed.By designing a separation mechanism to combine the amphibious trolley with the ordinary drone,the strong adaptability of the land reconnaissance can be combined with the flexibility of the airspace reconnaissance,so that the separated amphibious reconnaissance can be well adapted to various new combat missions.To ensure the realization of the separation reconnaissance system at the level of the mechanical system,the structural design and static analysis of the key components in the entire system were carried out.Based on the knowledge of aerodynamics and general dynamics,a non-linear kinematic equation of a reconnaissance system is constructed by a certain reasonable assumption and simplification.Under the assumption of reasonable assumptions,the idea of decoupling control is used to decompose the overall highly coupled non-linear kinematic equation into a dynamic model based on four independent virtual input channels.Finally,the lift of the aircraft and the buoyancy of the amphibious trolley are derived and calculated respectively.After analyzing the dynamic model of the reconnaissance and referring to the related literature,a non-linear closed-loop controller design method based on a double-layer loop was adopted.A controller based on Fuzzy-PID control was designed in the outer loop to achieve height and position track,the sliding mode controller is used in the inner loop to achieve attitude stability control.Based on image processing knowledge and related literature,a method based on dense multi-scale rectangular filters and image convolution is adopted to achieve target detection,and an area-based tracking method is used to extract and track image targets,and feedback the target's attitude information.Finally,the design and construction of the hardware and software of the separated reconnaissance system were completed according to the idea of modular design,and relevant simulation experiments were carried out on this basis.Through filtering experiments,it was verified that the quaternion-based Kalman filter has a good suppression effect on peripheral noise and body chattering.Then,the corresponding SIMULINK framework was built based on the double-layer loop non-linear controller developed in this paper.Trajectory tracking experiments show that the inner and outer loops reach respectively a steady state of control at about 2s and 5s,and the steady-state error of both is 0,so the accuracy and robustness of the double-layer loop controller is verified.In the stabilization response experiment,compared with the traditional PID control,the double-layer loop controller has a shorter adjustment time and a smaller maximum overshoot,verifying the good dynamic performance and superiority of the controller.Experiments on the effectiveness and reliability of the target recognition algorithm are also carried out.The results show that the precise recognition height of the separated reconnaissance is 2m,and the maximum recognition height is 2.5m.