The Attitude Control Law Design And Simulation Research Of Small Unmanned Aerial Vehicle

For nearly a century, UAV has played an increasing role in the field of military, civilian and scientific research. Due to its broad application value, UAV has been a hot spot of present world development, and now it keeps moving on towards the direction of low-cost miniaturization. Various attitude controls of UAV have to rely on UAV autopilot to complete, therefore the design of control law of UAV autopilot has great practical significance to the growth of UAV.This paper, taking a small fixed-wing UAV for study object, aims at discussing the establishment procedure of mathematical model and its linearization in the reference state point. Then through the analysis of the structure and principles of the flight control system, the control strategy of longitudinal and lateral attitude movement are designed respectively. After the in-depth research and improvement, the bee colony algorithm would be applied to the PID controller parameters optimization along with control law design and simulation on the three attitudes of pitch, roll and yaw separately.This subject takes inertial navigation autopilot APM2.5 as a software and hardware platform, emphatically analysis the hardware configuration and selection of APM2.5, and carried out detailed study of the main routine as well as the control program of major operating components. Finally, taking X-Plane, Mission Planner and APM2.5 as the main part, hardware-in-the-loop simulation platform is established and plan flight routes to simulate HIL. The results of simulation have verified the reliability and validity of the control law designed.