The Research On Autonomous Take-off And Landing Control Technology Of High-speed Unmanned Aerial Vehicle

Nowadays,UAVs are playing a very important part in various fields,especially the high-speed UAVs,which have important strategic significance in the military field.Therefore,the research of high-speed UAVs has been one of the important subjects in the field of aviation in recent years.The autonomous take-off and landing process are the most critical stages in the flight mission of high-speed UAVs,which are related to the reusable utilization rate and flight safety.Compared with autonomous flight in the air,although the flight time of take-off and landing stages is short,the flight process is complex and the risk is higher.Therefore,the control technology of take-off and landing stages is the key and difficult point in the flight control technology.In this paper,a high-speed UAV with swept-back wing and front three landing gear is studied.Firstly,the aerial and ground models of the UAV are established,and the aerodynamic performance,maneuverability and modal characteristics of the UAV are analyzed,which lay a foundation for the design of the subsequent control law and control strategy.Secondly,according to the motion characteristics of the UAV,the flight control structure based on total energy control and linear active disturbance rejection control is designed,and the control parameters are adjusted at the typical balancing state points.The dynamic performance of each control system is verified by simulation in the time domain index,and the construction of the UAV simulation platform is preliminarily completed.Thirdly,the control system of deviation correction,autonomous take-off control and autonomous landing control are designed respectively.Based on the linear active disturbance rejection theory,the combined rudder and front wheel taxi correction control law is designed,and the effectiveness of the control system is verified by the taxi tests.The autonomous take-off control structure is designed based on the linear active disturbance rejection control,and the autonomous take-off control strategy is designed according to the UAV’s performance and the motion characteristics of each stage of take-off.The control system verification based on MATLAB/Simulink take-off simulation platform is completed,and the robustness of the autonomous take-off control system is verified by Monte Carlo simulation.The pull-up trajectory of the landing section is planned based on the Gaussian pseudospectral method,the autonomous landing control structure based on the total energy control system is designed,and the landing control strategy suitable for the UAV is designed based on the landing trajectory.The verification of the control system based on the MATLAB/Simulink landing simulation platform is completed,and the robustness of the autonomous landing control is verified by Monte Carlo simulation.Finally,the flight demonstration and verification of the take-off and landing control structure proposed are completed.The composition of the flight control system and the flight test scheme are introduced.By comparing and analyzing the flight data of autonomous take-off and landing with the simulation results,the accuracy of the take-off and landing control model built in this paper and the rationality of the designed take-off and landing control scheme are verified.