Research On Motion Control Of Unmanned Aerial-Aquatic Vehicle

The unmanned aerial-aquatic vehicle(UAAV)is a new type of unmanned vehicle that has the characteristics of both underwater and air vehicles proposed in recent years.The UAAV integrates the characteristics of the vehicle in two media,gets rid of the constraints of a single medium.However,the UAAVs are difficult to model due to the sudden change of the medium.There are complex nonlinear problems,large environment fluctuations caused by disturbance and the drastic load changes in the water entry and water egress,which are still need to be considered in the study of UAAV motion control.The UAAV generally faces with complexity and necessity in the process of water entry and water egress,due to the domain where the UAAV locate.Additionally,the density of water is hundreds of times that of air,when the water entry or egress the media changes the density changes suddenly,the motion of the trans-medium has strong nonlinearity.It is the main research content of this article to explore and solve the problem of aircraft control under nonlinear conditions.Primarily including:The kinematics model of the UAAV was established by changing the conventional Euler transformation sequence to avoid the singularity phenomenon.After that,analyzed the main force on the vehicle,the dynamic model of the vehicle was established by the Newton Euler method analysis.This is the basis of the research on the motion control of the UAAV.The control system of the UAAV is designed,and the experiment of the propulsion system is completed.Firstly,the hardware composition of the control system of the UAAV is introduced.When the hardware selection is completed,the software realization design of the mission control of the UAAV under water and in the air is designed;the experiment of the vehicle propulsion system is designed.The motion controller of the vehicle is designed,aiming at the three key tasks of underwater gliding,water exit and aerial take-off of the UAAV.After that,the simulation experiment of the vehicle at the corresponding section is completed,and the results are compared and verified that the controller improved the performance of the vehicle motion controller.The environment interference of the aircraft is considered,when the controller in distributional situation is designed.Subsequently,disturbance observer is designed to estimate the interference force and torque.Finally,the trajectory tracking control simulation of the aircraft is carried out to verify the influence of interference on the motion control simulation of the exit water process and the accuracy of the disturbance observer.