Research On Flight Controller Of Unmanned Powered Parachute Vehicle

The unmanned parachute vehicle is a new steerable unmanned aerial vehicle developed on the basis of the manned powered paraglider.The structure is composed of a flexible canopy and a rigid vehicle,which can fly smoothly for a long time under heavy load.With ultra-short takeoff,landing distance and excellent low-speed flight performance,so it is widely used in military and civilian fields.However,the flexible canopy and the relative movement of the canopy not only increase the control difficulty but also hinder the in-depth study of the unmanned parachute vehicle.At present,researches of domestic and foreign focus on system modeling and simulation analysis,and there is little research on actual flight control.This paper focuses on the flight controller of the unmanned parachute vehicle,and uses the methods of theoretical analysis,simulation and test verification to conduct an in-depth study on the flight controller of the unmanned parachute vehicle,and obtain some valuable conclusions.The main content of this article is as follows.First,the eight-degree-of-freedom（8-DOF）model of the unmanned parachute vehicle is established,then it is decoupled into a longitudinal model and a lateral model.The PID control algorithm is used to simulate the two flight processes of climbing and yaw,then the stable climbing and yaw control of the unmanned parachute vehicle is realized.Secondly,a lightweight,high lift-to-drag ratio unmanned paramotor vehicle is designed,and the structure of the paraglider and parafoil is modeled in three dimensions,and the pressure field and flow field of the parafoil were analyzed.At the same time,the unmanned paramotor is equipped with suitable power systems,sensors and data links,and an aerial test platform with stable performance and reliable structure is obtained.Based on the STM32F765IIK6 processor,the hardware of the flight controller is designed using Altium Designer software,and the flight control program is written using the MDK5 software based on the bare metal operating system,and a powerful flight controller is obtained.Finally,the flight controller is installed on the unmanned parachute vehicle for flight verification.The flight results show that the unmanned parachute vehicle can climb to the desired height stably and fly to the desired yaw angle quickly.So the unmanned parachute vehicle test platform and flight controller can meet the needs of flight control.