| Aiming at the bottleneck problem of the endurance and load capacity of the electric UAV,this paper presents the overall design and engineering realization of a fuel-powered multi-rotor UAV,and studies issues about the navigation positioning,flight control and motor drive.The main work is as follows:(1)Aiming at the problems of conventional methods with strong device dependence,low precision and insufficient field calibration capability,a new device-free calibration method is proposed,which uses the Gauss-Newton method for iterative optimization.The experimental results show that the method is more accurate than the ellipsoid fitting method based on linear least squares.(2)Aiming at the problem that the model of the adaptive attitude fusion method in the literature is nonlinear,computationally intensive,needs online estimation of the system noise,and does not consider the zero drift of the gyroscope,a new adaptive extended Kalman attitude estimation method is proposed.The effectiveness of the method was verified by a self-made experimental platform.At the same time,the principle and actual filtering effect of Kalman’s height position fusion are introduced.(3)Dynamic modeling analysis of the fuel-powered drone,combined with the measured data,gives a decoupled linearization model,and then,based on linear matrix inequality,this paper introduces the design of a multi-objective dynamic output feedback controller for UAV’s attitude control,which is verified by simulation.The results show that the controller has good tracking ability and robustness.(4)The significance of DC equivalent model of permanent magnet brushless motor in the optimal design of energy conversion chain is analyzed,and its equivalent mathematical model is given by theoretical analysis and measured data.Moreover,a sensorless state observer is designed for the sensorless driving problem of permanent magnet brushless motor,and the effectiveness of the observer is verified by simulation.(5)The implementation of the fuel-powered multi-rotor UAV is introduced,including the hardware circuit and the PC debugging software.Finally,the closed-loop control of UAV’s attitude and height were verified by the outdoor flight tests. |
