Research On The Control Method Of Target Move With Rotor Aircraft

With the rapid development of rotor aircraft, its application drew widespread interest in the area of target move. Therefore, it is significant to do research on the control method of target move with rotor aircraft. The purpose of The AVIC Cup-The 3rd International UVA Innovation Grand Prix is to promote the advancement of technology in this area. Taking the competition as the research background, this paper gives a research on the control algorithm and method of target move with six-rotor aircraft.Firstly, the dynamic models of the six-rotor aircraft and the slung load were established.Due to the relevance between the control performance of aircraft and the accuracy of its dynamic model, the equations of linear and angular motion based on air force and torque of the six-rotor aircraft were established, as well as the force model of slung load to aircraft based on the analysis of air force of slung load, thus obtaining the accurate dynamic models of the six-rotor aircraft with and without load, which improved the accuracy of the controller.Secondly, the configuration of the controller and control method of the six-rotor aircraft were designed. The configuration of the controller that the attitude controller was taken as inner loop and the position controller was taken as the outer loop was designed, which was based on the dynamic model. Meanwhile, the attitude controller of six-rotor aircraft was designed by the algorithm of fuzzy adaptive PID control while the position controller of the aircraft was designed by the algorithm of PID control. Then the robustness and rapidity of the attitude controller were verified by the Matlab simulation as well as the effectiveness of the position controller and the correctness of construct of the controller.Thirdly, the strategy model of target move with nine states was brought up. And the task experimental system was designed on a foundation of the three-layer-system structure composed of the task layer, the navigation layer and execution layer of the six-rotor aircraft.Considering that the finite state machine has very strong stability and the task requirement of the competition, the finite state machine of nine states was designed to finish the model building of the strategy of target move.Based on the above research, experiments of hover, with no load position tracking, load lifting, load transport and load release were conducted. And the results verified the effectiveness and robustness of the established model and control algorithm.