Preliminary Research Of Control System And Position Detecting On Deformable-Unmanned Aerial Vehicle

Unmanned aerial vehicles get rapid development in civil, commercial, and military.This topic puts forward a new type of small unmanned helicopter D-UAV(Deformable- Unmaned Aerial Vehicle).The D-UAV hovers in the air at ordinary times,quickly raises rotor after receiving the signal and becomes similar to the shape of the rocket.The D-UAV can be used as a kind of air combat weapon,striking quickly.Firstly, the D-UAV model,including the structure model and mathematical model.is established in this thesis. The device and structure of packing up rotor and controlling flight direction are introduced, and the flight principled is analyzed. The D-UAV mathematical model was established based on it, including the mobile dynamics equation and rotation dynamics equation of UAV and its linearization.Secondly, the D-UAV control system is built. According to the the requirements of UAV flight function, the components are selected, including the main controller CPU, IMU inertial sensor, wireless module of sending and receiving signal as well as a variety of drive unit. Furthermore, the circuit of D-UAV is designed, including spindle brushless DC motor drive circuit, the tail DC motor drive circuit, wireless receiving module, inertial measurement module, control the power conversion module, etc. Thesis various modules are combined into a complete set of D-UAV control system, and a hardware platform is developed as the base of the system software.Finally, the D-UAV control system software is designed in MDK environment. In order to improve the real-time performance of the control system and realize the modular programming, the ?C/OS-II, an embedded real-time operating system was transplanted. Then, the preliminary test was made, including ground test test and the D-UAV flight test. The curve of Angle, angular velocity and acceleration were drawn in the flight process using Matlab software. The relations among flight parameters and the flight pose were analyzed. The flight test shows that the design of the system is fundamentally reasonable.