一种新型单涵道式无人机控制系统设计

Design of a New Control System for a Single Ducted-fanaerial Vehicle

无人机(unmanned aerial vehicle,UAV)的应用场景的多样化及复杂化对飞行器的功能、性能、安全性提出了新的挑战。提出一种兼具垂直起降、空中悬停和高速飞行能力且安全性更高的新型单涵道式飞行器整体设计,分析并推导飞行器的动力学方程以降低系统的耦合性。为了提高系统的实时性与鲁棒性,在飞行器软件系统中移植UCOSⅢ,并基于双闭环比例微分积分(proportion integral derivative,PID)算法设计其姿态控制器。通过Unity3D和C#编写兼具模拟飞行的地面站程序实现多平台控制,最终完成飞行器样机的总体设计且通过试飞实验验证其飞行性能。研究成果对单涵道飞行器的实际工程应用具有重要的借鉴意义。

The diversification and complexity of unmanned aerial vehicle(UAV)application scenarios pose new challenges to the function,performance and safety of UAV.A new design of a single ducted-fan aircraft with vertical takeoff and landing,hover and high speed flight capability and higher safety was proposed.The dynamic equation of the aircraft was analyzed and derived to reduce the coupling of the system.In order to improve the real-time performance and robustness of the system,UCOSⅢwas transplanted into the aircraft software system and its attitude controller was designed based on the double closed-loop proportion integral derivative(PID)algorithm.Multi-platform control was realized by writing the ground station program with both flight simulation and Unity3D and C#,and the overall design of the aircraft prototype was finally completed and its flight performance was verified through flight test.The research results have important reference significance for practical engineering application of Single ducted-fan aircraft.