小型固定翼无人机自主起飞控制系统  

The Small Fixed-wing UAV Autonomous Take off Control System

作　　者：孙蓉[1] 刘洪丹[1] 权申明 程建华[1] 王春华[2] SUN Rong;LIU Hongdan;QUAN Shenming;CHENG Jianhua;WANG Chunhua(College of Automation,Harbin Engineering University,Harbin 150001,China;The Chinese people's liberation army 92956 troops,Lvshun 116041,Liaoning,China)

机构地区：[1]哈尔滨工程大学自动化学院 [2]中国人民解放军92956部队

出　　处：《实验室研究与探索》2018年第10期89-93,97,共6页Research and Exploration In Laboratory

基　　金：黑龙江省教育教学改革项目(JG2013010203);黑龙江省高等学校教改工程项目(JG2012010147);黑龙江省高等教育学会高等教育科学研究"十三五"规划课题(16G046)

摘　　要：为了能够增强小型固定翼无人机在起飞阶段的安全性和稳定性,设计了固定翼无人机自主起飞控制系统,并实现其功能。首先在三维空间内建立无人机起飞阶段的六自由度运动数学模型;根据无人机受力不同,将无人机起飞分为3个阶段,并分析每个阶段的动力学和运动学规律;搭建无人机自主起飞硬件实物平台,设计、制作并调试飞行控制板,结合无人机自身特性和控制任务要求,对所用的电机等元件进行选型以及对电路板进行焊接与底层调试。基于上述条件设计PID控制器,在有风扰动情况下对开环、闭环控制下无人机的起飞进行仿真,通过对比分析以及不断调整控制参数,以达到理想的控制效果,通过实地飞行实验,以验证该控制系统的可行性和稳定性。In order to enhance the security and stability of a small fixed-wing Unmanned Aerial Vehicle(UAV),the takeoff autonomous control system of a small fixed-wing UAV is designed and implemented in this paper.Firstly,the six degrees of freedom movement mathematical model during the period of autonomous UAV takeoff is established in three-dimensional space;secondly,the UAV take-off is divided into three phases based on the rule of dynamics and kinematics;thirdly autonomous UAV takeoff physical hardware platform is designed,produced and then the flight control board is modulated.Next it bound the characteristics of UAV and the requirements of control task and selected motor and other elements that should be used and the circuit schematics and circuit board are designed.Finally the PID controller is designed and simulation under the control of the open-loop and closed-loop in the case of wind disturbance for the UAV take-off is realized,the control parameters through comparative analysis can be gotten to achieve the desired control effect.The feasibility and stability of the control system are verified through field flight experiments.

关 键 词：固定翼无人机 自主起飞 PID控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]