小型无人机容错飞行控制的设计与实现摘要.doc

摘 要当前，世界各国都加强了对于无人机的研究，这主要在于无人机有效地摆脱了人承受能力的束缚，可以在一些特殊的环境中和不确定的对象下执行高危险的任务。控制技术层级发展最后同时微型飞行器。对微型飞行器执行机构等进行故障特征研究，根据连续监视信息，及早地发现故障前兆以及早期的故障，在故障发生时，通过。中国论文网 /8/view-5905999.htm　　关键词：小型无人机，自主飞行控制技术，自主控制，MATLAB Abstract At present, all the countries in the world are to strengthen the research on UAV, which mainly lies in the UAV effectively get rid of the shackles people bear ability, can in some special environment and uncertain objects perform high dangerous tasks. Are described in this paper UAV autonomous control technology development needs, and in-depth analysis of the small UAV autonomous control of key technologies, to further explore the UAV autonomous control levels of development. Finally, the small UAV autonomous control the direction of future research prospects. This topic at the same time, the Lyapunov stability theory is applied in the design of MAV attitude model reference adaptive control system, guarantee system under actuator failure, can still maintain a certain degree of stability. Fault characteristics of the miniature aircraft actuator, according to continuous monitoring information, early found and early failure to be a precursor to failure. When fault occurs, through the design of fault-tolerant controller makes the system quickly restored to a state of equilibrium, stable and reliable tracking expected attitude signals. Key words: Small UAV, autonomous flight control technology, autonomous control, MATLAB 第一章 绪 论 本次毕业设计课题是小型无人机容错飞行控制。 1.1无人机的概念 从字面上理解无人机，可以将其视为无人在飞机上直接操控飞机的机器，这种飞行棋区别于传统的有人驾驶的飞机，其操控地点不再局限在飞机驾驶舱，而是可以在地面对其遥控或者飞行器自动根据逻辑选择飞行方式和路线。一般而言，目前的无人机包括五个主要系统，分别是着陆系统导航系统遥测系统控制系统驾驶仪无人机地面有效负荷由于MAV在现代军事和民用方面应用的巨大优势 1.2 无人机典型特征 总结之前的战争可以发现，飞行器的飞行师培养费用消耗极大，而战争很容易造成人员的伤亡，为了适应未来战争形式，一些国家开展了无人机无人机反射特征舰艇地面滑跑拦截网降落伞 1.3无人机的未来发展预测 综合看来，相对传统飞机无人机的主要优势体现在经济性、安全性以及综合机动性能等方面，这些优势是无人机受到各国重视的最直接原因。我国在无人机界最典型的几款机型来自航天科工集团SH-1型无人机是一种多功能的机种，其具有良好的气动特性SH-1型无人机的适用范围包括空中侦察SH-1型无人机，SH-3型无人机具有更轻的起飞重量，且行进速度较低，由于采用了耗油量低的发动机，其飞行时间大幅增加。此种机型的优势体现在造价低廉、飞行时间