GUIDANCE AND CONTROL DESIGN AND 6DoF SIMULATION FOR A TARGET DRONE

摘要

In this study, a radio controlled target drone is aimed to navigate autonomously between pre-determined waypoints. In order to achieve this waypoint navigation, altitude, speed and heading acquire and hold autopilots are designed and integrated with a waypoint navigation algorithm. Before the controller design, aerodynamic coefficients for nonlinear flight dynamics modeling are found using some aero-prediction tools which are using related database and semi-empirical formulations. Afterwards, the open loop dynamics of the A/C is investigated and a longitudinal stability guaranteed, and performed in a desired level, flight envelope is formed. All linear dynamic modes of the A/C is investigated by open loop dynamics simulations within the envelope. Area center of the envelope is chosen as the reference point for controller design and altitude, speed and heading acquire and hold autopilots are designed at this point. Designed controllers are operated at the end points of the envelope, and a linear robustness of the designed controllers are examined before operating in the nonlinear 6DoF simulation environment. Both linear and nonlinear 6DoF simulation environment is built in Matrix_x and MATLAB simulation and control software.