Design And Implementation Of Rotary Drone Assisted Landing Platform

With the development of drone technology,drones have been widely used in civil,military and many other fields.According to the research,the majority of drone flight accidents occur in the process of drone recovery.In order to increase the success rate of drone landing and facilitate the drone landing on the platform of vehicle,ship and other movements.In this dissertation,a low-cost and real-time device for drone landing is designed.The main contributions are:(1)This dissertation studies the leveling methods of the current automatic leveling platform.By analyzing the advantages and disadvantages of various leveling methods and the functions to be implemented by the drone assisted landing platform,the overall implementation of the drone assisted landing platform is designed.The leveling structure using a three-point support and the position error leveling method with fixed points fixed are determined to achieve the leveling of the platform.(2)According to the determined leveling structure and technical index,the mechanical structure of the platform is designed.Its stability is verified by static analysis.And the attitude position of the platform is studied by the forward and inverse solution of the position of the parallel mechanism.The relationship between the change of two-dimensional attitude angle of the platform and the length of each push rod is given(3)The disturbance law of the attitude of the assisted landing platform with the turbulence of the ship is studied.By modeling random sea waves and ships,the attitude change curves of ship roll angle and pitch angle are simulated.And the AR prediction model based on time series is established.Take the simulated data of ship roll angle and pitch angle as samples to predict the roll angle and pitch angle of landing platform base in 1 to 4 steps,the results show that the prediction accuracy is high.It provides a reliable basis for the design of control system parameters.(4)The overall scheme of the automatic control system for the drone assisting platform is designed.The SimMechanics module in MATLAB is used to establish the model of the assisting platform.The control system of the assisting platform is simulated,and the incremental PID is used to improve the system performance.The simulation results show The leveling accuracy of the leveling system of the descent-assist platform is ideal,which meets the requirements of the drone landing.Then according to the control scheme of the system,select the appropriate electrical components.(5)Set up the experimental platform,design and implement the control system of the drone assisted landing platform based on C language.The static and dynamic experiments of the platform are carried out by combining the simulated ship motion attitude and the predicted motion attitude data.It is verified that the designed landing platform can meet the landing requirements of drones.