Research On Autonomous Flight Control Algorithm Of Coaxial Twin-rotor UAV

In recent years,unmanned aerial vehicles have been more and more widely used in the military and civilian fields.Compared with common rotor UAVs,coaxial twin-rotor UAVs have the advantages of compact struc TRUE,high hovering efficiency and high flight reliability,and can be put into the launcher after folding,and launched to the target area as a carrier of detection equipment for detection activities.Therefore,this paper studies the problem of coaxial twin-rotor UAV tracking ground targets,and studies the key issues such as the stability of UAV control algorithms and the integrity of autonomous flight tasks in the tracking control process.In this paper,the development history of common axis twin-rotor UAVs and the control method and position control algorithm of autonomous flight of UAVS are briefly introduced,and the research direction is determined.Then,the kinematic model and dynamic model of the common axis twin-rotor UAV are analyzed,and the PID,P-PID,PD+UDE three position loop control algorithms are designed and simulated to achieve stable trajectory tracking.Aiming at the task requirements of autonomous flight of common axis twin-rotor UAV,an autonomous flight control system based on on-board computer and flight control two-way communication was designed.Three key decisions including target search before tracking,target loss processing during tracking and return of unfound target were combined to obtain a complete task flow and improve the reliability of autonomous flight of UAV.Finally,in order to verify the effectiveness of the control algorithm and the feasibility of the autonomous flight function of UAV,the P-PID control algorithm is applied in the process of target tracking,and PD+UDE control algorithm is used to control the trajectory tracking of UAV for the target search function.The experimental results show that the scheme of combining the autonomous flight control method and control algorithm for target searching and target tracking of the common axis twin-rotor UAV designed in this paper can achieve the real-time target tracking well.