Dynamic Characteristics Analysis And Synchronous Control Of Unmanned Aerial Vehicle

In recent years,numerous researchers have devoted to the study of inhabiting problem of fixed wing UAV.Fixed-wing UAV has the advantages of fast speed,smooth flight and low cost,but there are many obvious shortcoming,for example,short flight time,limited load-bearing and difficult to land safely,etc.Therefore,it is of great significance to recharge the unmanned aerial vehicle like a bird at any time and anywhere.Based on the above problem,this dissertation takes a small fixed wing UAV as an example to investigate the stable inhabiting process on vertical wall to achieve stable inhabiting problem after UAV’s short distance flight.The contents of the study include: aerodynamic simulation calculation,mathematical model establishment,estimation of the attraction domain and design of synchronous control law.The details are as follows:According to the changing state of attack angle during UAV’s inhabiting,the aerodynamic characteristics of UAV are studied.When the UAV is flying in a vertical plane,the angle of attack is changed by deflecting the horizontal rudder surface,thus changing the lift and generating the normal acceleration to control the upward or downward flight.In the face of the geometric model of UAV,the calculation area and mesh generation can be determined.Then selecting appropriate calculation model and turbulence model to simulate the aerodynamic characteristics of fixed wing UAV by Fluent software.And further analysis of the results shows the flight characteristics and performance of UAVs when they are inhabiting.The mathematical model of UAV in the process of inhabiting and the area of attraction were calculated.Firstly,we describe the physical characteristics and shape structure of fixed wing UAV,and establish a simplified aircraft model based on theoretical mechanics and knowledge of UAV flight mechanics.By studying the state of the unmanned aerial vehicle stably inhabiting the vertical wall,the variables and parameters of the constraint are solved.Finally,the Lyapunov method is used to estimate and simulate the attraction domain of the fixed wing unmanned aerial vehicle on the vertical surface.The synchronous inhabiting control problem of multiple UAVs is studied.We first analyse the motion model of a single UAV,the UAV motion equation is decoupled into longitudinal motion because of UAV’s longitudinal motion during its inhabiting process.Furthermore,it is necessary to design a synchronization control law for multiple UAVs to achieve the synchronous inhabiting by controlling the pitch angle and pitch rate state of UAV during its inhabiting process.Lastly,we prove the convergence of the designed algorithm and verify it by Matlab/Simulink.