Study On Flight Control Method Of Foldable Common Rotor UAV

With the development of The Times,the development of UAV industry is getting better and better,and it has been applied more and more widely in the military and civil fields.Especially in the military field,in response to the future complex battlefield and diversified needs of operational missions,foldable co-axis rotor UAV emerged at the right moment.Co-axis twin rotor can hover at fixed points.In recent years,it has been successfully miniaturized,featuring strong maneuverability,strong striking effect,convenient reconnaissance and portability,and has become one of the most widely used aircraft.The common axis rotor UAV shot by the gun can directly pass the enemy’s defense system to the target area and quickly execute the flight task,avoiding the enemy’s reconnaissance and interception while saving most of the flight energy loss,saving time for our reconnaissance,bombing and other flight tasks and improving the endurance of the UAV.In this paper,the flight control method of collapsible coaxial rotor UAV is studied.Through the analysis of the basic principle,structure layout and design index of the foldable co-axis rotor UAV,the input and output of the co-axis rotor UAV as well as the composition parameters of the force and torque in the kinematics and dynamics of the coaxis rotor UAV were defined,and the mathematical models of the kinematics and dynamics of the co-axis rotor UAV,the body resistance and the motor speed were built.Based on the model,the dynamic simulation model of the common rotor UAV was built in simulink,and the influence of various parameters on its flight performance was analyzed.Aiming at the influence of structural stability and sensor data acquisition accuracy on flight pose estimation of collapsible coaxial rotor UAV,the method suitable for its pose estimation requirements was studied,and the influencing factors of vibration on the structure were studied,and the corresponding solution was proposed to ensure the stability of the structure.LM algorithm was used to calibrate the sensors on the flight control system to obtain accurate information such as acceleration and position to ensure the stable control of position and pose during flight.For the disturbance and noise,the complementary filter and extended Kalman filter are used for data fusion to obtain the optimal estimation of the current UAV and improve the UAV flight control.In view of the uncertainty of the model parameters of the co-axis rotor UAV during the firing process,the algorithm suitable for its pose and pose stability control was studied.The saturated cascade PID algorithm and ADRC were used to design the attitude control algorithm of the co-axis rotor UAV,and the feasibility and stability of the algorithm were verified and compared by simulation.The saturated cascade PID algorithm is used to design the position control algorithm of the common rotor UAV.The stability analysis of the whole UAV system was carried out by building the simulation model and the control model was verified by the actual flight test.