Research On Control Of Hybrid UAV Driven By Oil And Electric

In this paper,a hybrid of oil and electric unmanned rotorcraft design based on the coaxial twin propellers is proposed.This scheme combines the advantages of the conventional four-rotor unmanned aerial vehicle(UAV)and the coaxial twin-propellers helicopter,and uses the oil-powered engine to drive the coaxial propellers providing the main lift,and the four electric rotors are used to change the attitude of the UAV.This combinational power takes advantage of the long life of the oil-powered engine and the fast response of the electric motor.Compared to the traditional electric rotorcraft,the design improves the time of use.Compared with conventional oil-powered rotorcraft,the design has relatively simple structure,without the need to control the pitch,greatly reducing the mechanical complexity and control complexity.Based on the design of the coaxial twin-propellers rotorcraft,this paper designs and manufactures an electric testing machine based on the coaxial twin-propellers,and designs the hardware and software of the autopilot of the coaxial twin-propellers.Dual processors are used on the hardware,and the software introduces Linux real-time operating system for task scheduling and implements modular design ideas,thus enhance reliability and scalability of the autopilot.Based on the kinetic model,a nonlinear controller based on the special Euclidean group SE(3)is designed.The geometrical controller can control the coaxial twin-propellers aircraft in accordance with the desired control path and yaw angle.Compared with the traditional Euler-based controller,the controller avoids the singularity problem and can track the complex path and improve the maneuverability of the UAV.According to control system simulation results,the controller has good tracking control effect for various complex paths.Finally,the actual flight test is carried out by using the test machine.During the test,the test machine is fully in accordance with the given path and the given yaw angle.The experimental results show that the control system can realize the effective control of coaxial twin-propellers aircraft,and has practical application value.