Research On Design Technology Of Flight Control System For Double-Engine Variable-Pitch Quadrotor UAV

Double-engine Variable-pitch quadrotor UAV is an unmanned aerial vehicle designed for large loads and long voyages.It can be used in many industries and has broad application prospects.In this paper,the research and design of the maneuvering and flight control system for the Double-Engine Variable-Pitch Quadrotor UAV is carried out.Firstly,aiming at the synchronous control problem of two engine speeds,the delay problem is decomposed and analyzed from the working principle of the piston engine,and the variable delay engine speed control system is established.The engine test proved the advantages of fast response speed and small error of the speed control module.Secondly,the characteristics of UAV are analyzed from aspects of dynamics and kinematics.The dynamic model is established and the model is simplified by ignoring the drag coefficient.Based on the equation of motion of the UAV,the LPV method is used to transform the system of nonlinearization of the UAV into linearization.The PID controller is designed and the simulation results of the parameters are set to verify the effectiveness of the control system.The controller is designed by using the Backstepping method to the nonlinear system dynamics model,and the simulation experiment of spot hover is carried out in Simulink.Then,the rotor blade is decomposed into micro-segments,and the pitch moment of the blade is calculated by analyzing the pitch moment received by the micro-segment.The hardware introduction and selection of the drone flight control system were carried out.Based on this,the rotor variable pitch actuator was selected.Considering the characteristics of the various electronic systems and interfaces of the UAV,the overall design of the avionics system are carried out.Finally,systems designed in this paper are tested and verified by the UAV flight test.