Research And Design Of Amphibious Multi-rotor UAV

In order to improve the application range and operation capability of multi-rotor UAV and unmanned ship,and ensure the reliability of water mission execution,a new type of waterair amphibious multi-rotor UAV was designed.Through the combination of the functional structure of the multi-rotor UAV and the unmanned ship,the vertical take-off and landing and air flight functions of the multi-rotor drone were integrated into the unmanned ship,breaking through the single mode of air flight or water navigation.The work content of this paper mainly includes the following aspects:(1)SOLIDWORKS was used to design the shape and structure of a water-air amphibious multi-rotor UAV.The fuselage structure of amphibious UAV is boat-shaped and powered by the rotor or the propeller when flying in the air or in the water,respectively.(2)The hardware circuit design of each module of the amphibious UAV control system and the selection of external power system were completed,the STM32F407VET6 chip was used by the control system as the core.Based on the hardware circuit,the software program of attitude reference system and motion control system is designed and written to realize the two motion modes control and mode switching functions.(3)Attitude reference system based on multi-sensor attitude information fusion algorithm was designed.Kalman filter algorithm was used to filter the sensor data,complementary filter was used to fuse the multi-sensor data.The designed attitude reference system could adapt to two different modes of air and water,and provide accurate attitude data feedback for the controller.(4)The motion control system of the amphibious UAV was designed according to the motion control principle.Based on the comparative analysis of classical PID and fuzzy PID,fuzzy PID algorithm was selected to construct cascade fuzzy adaptive PID control system.According to the requirements of water and air amphibious,two modes of control laws were designed respectively.