【作者】 唐磊；

【导师】 曹云峰；

【作者基本信息】 南京航空航天大学 ， 导航、制导与控制， 2007， 硕士

【摘要】 本文研究课题源于微型飞行器基础课题研究项目,针对某型MAV样机的研制,开展了MAV飞行控制及相关技术的研究。本文的重点是飞行控制系统的控制律和控制软件设计,以及MAV的飞行试验。本文首先概括了MAV的特点与应用,介绍了MAV的研究现状和最新进展并指出了MAV的发展趋势。根据飞行力学和某型MAV的风洞数据建立了其运动学模型,在某个基准状态下,对MAV的非线性模型进行线性化,分析了其自身稳定性。介绍了MAV的飞行控制律,包括MAV姿态控制、速度控制、高度控制。考虑到线性模型的局限性,对非线性模型进行了仿真,并研究了气流扰动、时延对系统的影响。设计了MAV的自主导航算法,并对算法进行了仿真。介绍了基于DSP的飞行控制软件的结构和各部分功能,详细介绍了各软件模块的流程。最后,对数百架次的飞行试验作了经验总结,并介绍了在飞行试验中调试飞行控制参数和实现自主导航的过程。给出了部分飞行试验结果。更多还原

【Abstract】 The thesis is derived from a basic research program.The research is about the flight control and relative technology for certain MAV.This paper focus on the design of flight control system, including flight control law and flight control software, and flight test.The paper firstly generalizes the character and application of MAV, then introduces the MAV’s advancement and developing trend.The MAV’s non-linear model is build based on the wind tunnel test data. The linear model is developed on the MAV’s trim point. The flight control law, including attitude control, velocity control and height control is introduced. Because of the limitation of the linear simulation, the simulation based on the nonlinear model is also carried out. The disturbance of the airflow and the time delay for the MAV’s flight status imformation are researched among these simulations.The navigation algorithm is designed in the paper, and the simulation is carried out.The flight control software is introduced, focus on the structure and function. And, experience from hundreds times of flight test is summarized, and the progress of adjusting control parameter, the realiziation of autonomous navigation in flight test is introduced. Some flight test result is given at last.更多还原