Research On Terrain Following Flight Control System Of The Gyroplane Drone

The terrain following,also known as terrain tracking,has been widely concerned by scholars since its inception.Now most studies are focusing on the fixed wing aircraft,the multirotor aircraft and helicopters,but the technology in gyro-plane drone is still unclear.In fact,the gyro-plane drone will fly in the simulated flight motion when performing some special tasks,so it is practical significance to the study of the ground like flight function of the gyro-plane drone.In this thesis,the test prototype syzx-1of the gyro-plane drone is designed by the analysis of the actual engineering application scenario of the gyro-plane drone.And the mathematical model of the gyro-plane drone,based on the blade element theory,can be obtained,by the analyzing and building the nonlinear dynamic model of the rotor,Combining with the mathematical model of the fuselage,the dynamic system and the tail,and linearizing the small disturbance principle.In this paper,the control results will be analyzed by designing the height control system of gyro-plane drone,based on the cascade PID controller and simulating the Simulink simulation.It has been found that the attitude of the gyro-plane in flight can be controlled well by the cascade PID altitude controller,but the the response of the varying altitude is not ideal.In this thesis,through using the RBF neural network dynamic surface adaptive control method,the controller of the gyro-plane drone is designed,and the stability of the control system is analyzed by the Lyapunov stability theorem.One can find from the Simulink simulation,that the uncertainties and unknown external disturbances can be approached by the RBF neural network,in the control system.Compared with the cascade PID control system,the stable safe altitude and the flight are ensured by using the adaptive control system of the RBF neural network dynamic surface.Compared with the cascade PID control system,the RBF neural network dynamic surface adaptive control system can ensure the stable safe altitude and flight stability in the process of Terrain Following flight.