Research On Modeling And Control Technology Of Ducted Fan Hexrcopter

Ducted fan hexrcopter is a kind of coaxial multi-culvert unmanned aerial vehicle.It is a kind of new aircraft which combines the advantages of the ducted fan aircraft and multi-rotor aircraft.Compared with traditional aircraft,it has higher efficiency power system and more flying time,which is simple and adaptable.Therefore,the academic community is paying more and more attention on it.Especially in the military field,it has a very wide application prospect.This paper studies the control technology of a kind of Ducted fan hexrcopter with a gas drive system.Main contents are shown as follows:Firstly,Introduce the structure and working principle of the ducted fan hexrcopter.Analyze its dynamic system.By comparison with the conventional rotors,The dynamic characteristics is analyzed and summarizes the process of six degrees of freedom movement of uav under the new power system.Then,analyze the force of the uav.Determine the force/moment relationship by ducted experiment,computational fluid dynamics simulation and bypass fan system simulation.By using Newton-Euler method,the equation of uav is designed.Using feedback linearization and get the linear state space.Next,analyze the characteristics and flight control requirements of the uav.The flight control system based on channel decoupling is designed.Cascade PID control structure is designed for high channel and three attitude channels and the method is compared with single-stage PID control.The main uncertainty of the system and its influence on flight control are analyzed.In order to perfect the design,the model reference adaptive controller is designed for the speed and attitude Angle.The uncertainty is compensated and verified by simulation.Finally,the control system simulation is carried out for the ducted fan hexrcopter.The simulation results show that the control effect can meet the technical requirements of flight control under conditions of stability and disturbance.The designed control system has certain reliability,which can realize the flight control of the ducted fan hexrcopter.