涵道式旋翼无人机系统设计

发布时间：2018-07-04 19:17

本文选题：涵道无人机 + 动力学模型　；参考：《哈尔滨工业大学》2016年硕士论文

【摘要】：涵道式旋翼无人机系统能够垂直起降和悬停,同时具备良好的机动性和可操控性,在现代战争中表现出愈加重要的作用。本文从涵道无人机系统设计的角度出发,着重开展了一系列的研究工作,主要内容如下:(1)从总体设计的角度出发,对无人机的材料选用和结构布局进行了总体规划,采用模块化设计思路对其机械及电子系统结构进行了设计。设计过程中针对螺旋桨高频振动降低航姿参考系统测姿准确性的问题,提出了基于方向余弦矩阵的互补滤波姿态估计方法,并通过数值仿真对算法的有效性进行了验证。(2)采用分体建模方式建立了涵道无人机刚体六自由度运动模型,通过空气动力学原理着重分析涵道、螺旋桨、导流片、控制舵片等气动部件的特性,并计算了相关结构参数。采用PID控制方法设计了双回路姿态稳定控制器,通过数值仿真对控制回路的性能进行了测试和验证。(3)采用面向对象编程方法设计并实现了涵道无人机地面控制软件,软件针对涵道无人机飞行控制和参数整定的功能需求,实现了3D视景显示、航空虚拟仪表、地图导航、在线调参、离线数值仿真等功能。经联调测试,软件的实时性和交互性良好,可满足涵道无人机地面控制的要求。(4)基于设计内容完成了涵道无人机机体加工和装配,通过飞行试验对所设计的互补滤波算法和姿态控制算法的有效性进行了验证,试验结果表明所设计的算法具备良好的姿态控制效果,满足系统设计的预期要求。
[Abstract]:The culvert rotor UAV system can take off and land vertically and hovering, and has good maneuverability and maneuverability. It plays an increasingly important role in modern warfare. In this paper, a series of research work is carried out from the angle of the design of the tunnel UAV system. The main contents are as follows: (1) from the point of view of the overall design, the material selection and the structure layout of the UAV are planned. The structure of mechanical and electronic system is designed by modularization. Aiming at the accuracy of attitude determination of propeller's high frequency vibration reducing attitude reference system, a complementary filtering attitude estimation method based on directional cosine matrix is proposed. The validity of the algorithm is verified by numerical simulation. (2) the six-degree-of-freedom motion model of the rigid body of the ducted UAV is established by using the split-body modeling method, and the duct, propeller and flow guide are analyzed emphatically by the aerodynamic principle. The characteristics of pneumatic components such as rudder are controlled, and the related structural parameters are calculated. The dual loop attitude stabilization controller is designed by using pid control method, and the performance of the control loop is tested and verified by numerical simulation. (3) the ground control software of tunnel UAV is designed and implemented by object-oriented programming method. According to the functional requirements of flight control and parameter setting of the ducted UAV, the software realizes the functions of 3D scene display, aeronautical virtual instrument, map navigation, on-line parameter adjustment, off-line numerical simulation and so on. The test results show that the software is real-time and interactive, which can meet the requirements of ground control of the tunnel UAV. (4) based on the design content, the machining and assembly of the airframe of the tunnel UAV are completed. The effectiveness of the designed complementary filtering algorithm and attitude control algorithm is verified by flight test. The experimental results show that the designed algorithm has a good attitude control effect and meets the expected requirements of the system design.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279

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