Research On Remote Control Technology Of UAV Under Large Delay Condition

In recent years,with the deep research in the field of UAV,the traditional air combat in military applications has gradually turned to the UAV mode of unmanned war.With the gradual transfer of military UAV into the civil field,the UAV has been reacting from the side to a golden period of development,for example,in aerial photography and other aspects.There is a trend in the development of man-machine.Based on the existing way of UAV operation,the sources of communication delay time of typical ground control system in remote control UAV are analyzed.Because communication delay can lead to the technical requirements of unmanned aerial vehicle remote control,it will face different degree of Engineering loss.Especially for research projects such as deep hole detection,the uncontrollable consequences of communication delay will be more serious.In order to solve the unknown influence of communication delay,this paper uses the Kalman filter algorithm to carry out the time compensation technology to realize the research goal of real-time transmission and control of the downlink data on the sky and earth integrated large delay system.The main contents of this paper are divided into the following sections.1.Based on the traditional human-machine system,the longitudinal small disturbance equations are obtained by the small disturbance moving line method for the rigid body six degree of freedom aircraft model,and the driver model is described by the driver’s transfer function.2.The flight control link and the driver control link use the classical PID control to design the control law.The inner and outer ring of the aircraft has two PID controllers,and the driver model only has one proportional controller,which is used to describe the driver’s manipulation gain and reaction dynamics.3.The composition of the wireless data link is studied,and the five layer model of the unmanned aerial vehicle data link network structure is expounded.The effects of the effectiveness index and real-time index on the performance of the data chain,the cause of the delay of the data chain communication,the effect of the bit error rate,the rate of lost frame rate and the wireless channel on the delay of the communication are analyzed,and the simulation is carried out through the experiment.The relationship between communication delay and propagation distance is increased.4.The Kalman filter algorithm is used to predict the communication delay of the system state after linearization,and a time compensation technique of extended Kalman filter is proposed for the nonlinear delay system,which improves the delay adaptability of the delay nonlinear system.Finally,the Simulink imitation is used.The real time integrated predictive control system model is designed.The experimental results achieve the real-time control technology requirements for the aircraft.