Flight System Design Of An Air-ground Vehicle

To compensate for the limiting of perspective and range in ground robots and shortageof limited endurance in unmanned rotorcrafts on Indoor reconnaissance missions. Anamphibious air-ground system which is designed for indoor reconnaissance missions isproposed in this paper. This air-ground vehicle is capable of both ground movement and theability of flight. It fits the long-timed missions and can adjust itself on fight missions aswell. This article starts with the design of this air-ground vehicle taken some reference fromthe existing achievements. Focus on the research and design of the general structure and thecontrol system.The general technical specifications and system components are determined based onits application and mission requirements. Aimed on the air and ground compatible issuesand the high precision needs of its flight controller, several prototypes are proposed. Thenthe Fuzzy Integrated Judging Method is used in this article to determine which prototype isthe best. Finally, devices for the controller are choosing according to the best prototype.By analysis of the dynamic and the control strategy of the vehicle, the dynamics modelof flight system is build. Derivate the transfer function with the help of state-space method.Aimed at the high precision demands of the controller, with the use of Backstepping controldesign method and PID method, two control laws are designed separately.Simulation result shows both controllers can stable the attitude of the vehicle at acertain angle rapidly. And Backstepping controller has a better result on overshoot and thesettling time. The flight test proofs the controller has a relatively high control accuracywhich meets the demand of the design specifications, the flight system of this vehiclecapable of perform flight missions.