无人机车载起飞飞控软件设计及仿真

摘要

关于无人机起飞优化控制软件设计问题,由于无人机车载起飞要求高度迅速升高、速度迅速增大的特点,对无人机俯仰角回路和速度回路进行PID设计.并根据车载起飞速度和高度的要求,将飞控软件划分为四个控制阶段,详细设计了飞控软件的控制流程.通过数字仿真,验证了预偏补偿对无人机姿态控制的重要性;通过半物理仿真,验证了车载起飞的设计已经达到了预定的要求,改善了车载起飞的飞行品质.基于以上分析,无人机车载起飞效果良好,对同类型的无人机具有一定的参考价值.%Based on the features that truck-mounted take-off of UAVs requires the height and the velocity to increase rapidly,the PID designs for loops of pitch angle and velocity were carried out.According to the requirements of the velocity and the height of truck-mounted take-off,the flight control software was divided into four control phases,and the control process of the flight control software was designed in detail.The digital simulation was implemented to verify the importance of the pre-partial compensation for the attitude control for UAVs ; and the hardware in the loop simulation was realized to verify that the design of the truck-mounted take-off has met the requirement of reservation,and improved the flying quality of truck-mounted take-off.Based on the previous analysis,truck-mounted take-off of UAVs has achieved good results,and is valuable for the similar type of UAVs.