Dynamic Modelling of the Hovering Phase of a New V/STOL UAV and Verification of the PID Control Strategy

2018 2nd International Conference on Advanced Technologies in Design, Mechanical and Aeronautical Engineering

工业技术;机械制造;航空航天工程

Zhang, Xiaomeng^1 ; Wang, Weijun^1

Beihang University, Beijing, China^1

关键词: Attitude controller;    Control schemes;    Control strategies;    Non-linear dynamics model;    Paper analysis;    Pitch attitude;    System transfer function;    Vertical take-off;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/408/1/012027/pdf
DOI  :  10.1088/1757-899X/408/1/012027

来源: IOP

【 摘 要 】

This paper analyses the dynamics of a vertical/short take-off and landing (V/STOL) unmanned aerial vehicle (UAV), and obtains a nonlinear dynamics model. During the flight from vertical take-off to hovering, the roll moment, pitch moment and yaw moment are regarded as control inputs to linearize the nonlinear dynamic model to obtain the system transfer function. Finally, the control scheme of pitch angle during the flight from vertical take-off to hovering is developed, and the control scheme is verified by simulation. The simulation results reveal that the designed Proportional-Integration-Differential (PID) attitude controller can achieve stable control of the pitch attitude of the V/STOL drone during the hovering phase.