Research On Adaptive Control Of Ducted Fan UAV

UAV can avoid executive personnel casualties, and there are more and moreprominent development in both military and civilian. Small ducted fan UAV cantake off and land vertically, and has the incomparable advantages of highaerodynamic efficiency, compact structure and good reliability. In the design, theresearch of flight control system is the key which is the center of safe. So muchattention is paid to designing flight control law.This paper introduces the development of ducted fan UAV,and analysescommon methods of flight control system law. Considering its modeling, rigid-bodydynamical model is derived with the knowledge of rigid-body dynamics and aircraftdynamics. Attitude control system is designed with in-out rings. The inside adoptsstate feedback method in order to solve the aircraft’s strong coupling. The outsideadopts PID method in each single channel. However, the PID control strategydepends on accuracy of system models, and it doesn’t have enough flexibility tomany uncertainty factors in UAV flight. As a result, the techniques for directadaptive control is discussed. Direct adaptive controller in attitude loop is designedwith the consideration of parameter perturbation and external disturb. For theun-ASPR systems, direct adaptive arithmetic is imploved. And it is applied inaltitude loop. At last, speed controller is designed. All the simulations show thatdirect adaptive control adapting to the severe environment leads to a better effectand improves the robust performance.