Design,Modeling And Flight Control Hardware In-loop Simulation Of Hybrid Uav

The composite The compound VTOL UAV is a hot UAV model recently,With its unique structural characteristics of quad-rotor and fixed wing,composite unmanned aerial vehicle has been applied in many fields.Combining the characteristics of quad-rotor and fixed wing,it can not only take off and land vertically,but also fly straight,greatly reducing the dependence of unmanned aerial vehicle on terrain or other environments.It has developed rapidly in recent years.Due to the increasing demand for composite unmanned aerial vehicles in recent years,the research and manufacture of composite unmanned aerial vehicles has become a top priority.Direct use of a physical unmanned aerial vehicle for experiments can give us the best feedback,but due to its extremely high cost,we cannot use physical unmanned aerial vehicles at any time.Based on the above reasons,the simulation of the structural model and mathematical model of the composite UAV will be the focus of the study of UAV.In this paper,Pix Hack is used as the controller and PX4 firmware is carried out.A method of dynamic simulation of composite UAV structure model based on Gazebo is proposed,and the UAV structure model is analyzed through flight data.Then,a simulation system based on Python is designed to study the vertical take-off and landing process control of composite VTOL UAV to verify the mathematical model of UAV vertical take-off and landing process.The main research contents are as follows:The first part introduces the background and development status of hybrid UAV,as well as the development status of UAV control system simulation research.In the second part,the flight principle of the compound vertical take-off and landing UAV is introduced,and the dynamic mathematical model of the compound UAV is designed and the PX4 flight control system is analyzed.The third part designs the hybrid UAV,then uses the 3D model established by Solid Works to write the code based on XML format,and finally uses Pixhack flight control,remote controller and Gazebo equipped with PX4 to carry out hardware-in-the-loop simulation,and analyze the flight log,confirming that the designed UAV model can fly normally.The fourth part uses Python to establish a simulation system to analyze the vertical take-off and landing process control of the composite VTOL unmanned aerial vehicle,According to the dynamics mathematical model designed in chapter 2 and the principle of PX4 flight control system in chapter 3,the control module and dynamics module are designed,and a closed-loop simulation is formed with the UAV signal and attitude calculation module of this system,and the data of three degrees of freedom in the process of vertical take-off and landing are displayed through dynamic curves.Each part of the system can complete the preset functions,and can basically reflect the vertical process of the composite UAV and verify the dynamic model.