Path And Control Law Evaluation Technology For UAV

In the modern war, the requirements of the unmanned aerial vehicle (UAV) are increasinglyhigher. As one of the key technologies of intelligent decision and autonomous flight, path planninghas a lot of disadvantages and it is usually restricted. In order to avoid problems of the planning path,we need study on an efficient evaluation method for the planning path of unmanned aerial vehicle. Onthe other hand, the flight control law will affect the trajectory tracking perforamce in the flightenvelop of the UAV and the tracking control performance will decide the completeness ability of theUAV. Thus, the evaluation problem of the flight control law need to be further studied. The maincontents of this thesis are surmised as follows:First of all, by studying on the kinematics and dynamics characteristics of UAV, a nonlinearmathematical model is established for the flight motion of the UAV. By analyzing the UAV battlefieldenvironment, the mathematical models are established which can denote the characteristics of UAVpath threat.Secondly, a path tracking controller is designed by using dynamic inverse control method for thenonlinear multiple input multiple output (MIMO) system of the UAV. Evaluation results of pathtracking performance evaluation results can be obtained from the planning path tracking controlsystem under the design flight control scheme. In the process of UAV path tracking, evaluation resultfor path tracking performance is available. The planning path feature information is extracted byanalysing flight kinematics equation. Through the typical path threat calculating, evaluation result forpath safety performance is achieved. Based on route tracking performance evaluation results, thecharacteristics of the path information and safety performance evaluation results, the UAV pathevaluation scheme is developed.And then, two methods are investigated for UAV flight control law evaluation to solve theexisting model uncertainty problem in UAV control system. One is a path evaluation method based onthe theory of structure singular value, and the other is a path evaluation method based on GeneticAlgorithm (GA). Both developed flight control law evaluation methods can overcome thedisadvantage that uncertain parameters increase lead to the dimension disaster by comparing with thetraditional flight control evaluation method based on grid. Furthermore, both developed flight controlevaluation method can reduce the algorithm running time. Finally, according to the UAV path evaluation and flight control evaluation scheme, thesimulation platform is given for a UAV path evaluation and the flight control evaluation. Simulationresults show that the development of the simulation platform can complete UAV flight planning pathevaluation and the flight control evaluation task. From simulation results, we can conclude that thestudy results have broad application prospects.