The Multimodal Control Law Design And Simulation Of Unmanned Aerial Vehicle

The avionics system is the UAV airborne important subsystem, its performance andreliability has a direct impact on the task performance of the UAV system and battlefieldsurvivability. Flight simulation module is an important function module supportavionics system simulation, and has important value for auxiliary modern avionicssystem design and test. Based on the actual requirements of a UAV avionics systemsimulation and the multi-modal control law needs, the UAV dynamics and kinematicsmodel of a linear process, a typical flight control modal conventional control law,attitude control robustness enhancement, as well as the integrated control law testingand validation work is completed in this dissertation. The specific content of thisdissertation include the following aspects:First, combined with the UAV avionics system simulation and flight simulationsoftware development needs, the UAV multi-modal control law needs analysis iscompleted. Based on the modular design concept, the overall design of the program andthe technical route for the research are proposed.Then, based on the six degrees of freedom equations, the UAV kinematics anddynamics of nonlinear models are established. In order to facilitate the design of thecontrol law, small perturbation method is used to linearize the model. Based on thelinear model, conventional PID controller is designed. The pitch attitude and rollattitude control simulation results show that the design of the control law to some extentto meet the project needs.After that, in order to solve the problem of the conventional PID controller such asslow response and weak anti-jamming capability, the H∞controller is designed andcompared with the conventional PID controller. The results show that in the case of thepresence of external interference and the system model uncertainty, the robust H∞controller can achieve a better control effect.Finally, in order to verify that the design control law is able to meet therequirements of the flight of UAV multi-modal. The UAV nonlinear flight model issimulated in Matlab environment. Conventional PID control method is used for UAV various flight mode. In the end of this dissertation, some problems and outlooks areproposed.