Basic Research And Design Of Deformable-unmanned Aerial Vehicle Based On Fuzzy Control

Mini unmanned helicopter have many characteristics, such as vertical take-off and landing, hovering, navigation and fast change course, etc. In this paper, we put up with a new kind of D-UAV(Deformable-Unmanned Aerial Vehicle) based on mini unmanned helicopter. It not only has rotor system, but also can install rocket engine. It can hover or fly forward as same as helicopter, and put away the rotor, open the rocket engine, switch to the rapid flight mode as well. The main content of this paper is the basic research of D-UAV which put forward above, aims at realizing the basic function, namely hovering and flying forward, the realization of changing flight mode is not included.Using fluid calculation software, we get the mathematical relationship of rotor force, rotor diameter, spindle speed and blade angle. And use it as a basis for conducting the structure design and component selection of D-UAV. Based on the designed structure of D-UAV, and reference the existing UAV flight equations, we obtain the flight equations of D-UAV. According to the flight function of D-UAV, the hardware systems of flight controller are designed. Designed the fuzzy controller for D-UAV hover condition, then use Mat lab simulated the PID controller of point-to-point flight and fuzzy controller of hover state. Later, the ground signal debug has been done; include motor speed debugging and gyroscope signal transmission, etc. The hover and yawing motion of D-UAV are realized on the basis of these experiments, and corresponding analyses have been made from parameter information for hover and yawing state.The design of mechanism and fuzzy controller of D-UAV is the core content of this paper; the simulation results show that fuzzy controller has good robustness and effect. However, use the fuzzy controller into the real flight, further research is still needed.