Research On Forward Flight Attitude Control Of Four Ducted Fan Vehicle

The four ducted fan vehicle,which can be widely used in the military and civil fields,is a kind of novel multi-purpose combat platform with comprehensive transportation,air patrol,rescue,transportation and so on.In this paper,the four ducted fan vehicle is taken as the research object and study on the flying attitude control problem.The research contents include: flight dynamics modeling of the ducted fan vehicle,system model analysis,the structure of the inner attitude controller design,using the method of non-smooth to solve the controller parameters,the effect research of the attitude controller.Firstly,this paper start with the structural characteristics of the ducted fan vehicle.the vehicle is analyzed from the structure to achieve the pitch roll yaw mechanism and using the idea of modularization and the method of aerodynamics and rigid body dynamics to establish the flight dynamics model.And this paper using a series of simplified model method,to establish a team with the most complexity and covers all the necessary important dynamic mathematical model of the ducted fan vehicle.Secondly,the model characteristics of the ducted fan is analyzed,first of all,based on the hypothesis of small disturbance,the linear equation of the ducted fan vehicle is derived,according to the linear equation,the system damping derivative and coupling characteristics is analyzed,model changing with forward speed,the change of the modal analysis system,the system input and output controllability,the last the system parameter changes on its stability and controllability are analyzed,which can guide the structure design.Thirdly,according to the characteristics of the ducted fan vehicle,as for the inner attitude control,two kinds of control method are put forward,the double closed loop PID control and the static output feedback control,in view of the double closed loop PID control parameters,this paper use the method of non-smooth optimization to get it based on the model,and through the simulation,the two methods all can reduce the coupling effect between each channel of the system,and achieve good tracking of the reference signal,the two methods have great robustness.At last,according to the characteristics of the ducted fan vehicle,the design of the software and hardware platform of the control system of the ducted fan vehicle is finished,and based on the platform,The static tensile test of electric ducted fan is finished.As well as the design of the double closed loop PID controller,this paper verified the controller structure which is applicable to the four ducted fan vehicle inner loop attitude control.