無人機自主起飛、著陸控制系統(tǒng)設(shè)計.pdf

1、南京航空航天大學(xué)碩士學(xué)位論文無人機自主起飛、著陸控制系統(tǒng)設(shè)計姓名：楊輕申請學(xué)位級別：碩士專業(yè)：專業(yè)導(dǎo)航、制導(dǎo)與控制指導(dǎo)教師：姜長生2011-03無人機自主起飛、著陸控制系統(tǒng)設(shè)計 iiABSTRACT As the development of auto flight control technology , UAV(Unmanned Aircraft Vehicle) flight quality‘s request is gettin

2、g higher and higher. Especially the control quality of autonomous take-off and landing is requested to realize UAV launching and landing precisely and safely. Therefore, the research on the control technology of autonomo

3、us take-off and landing is becoming more and more important. The paper takes some UAV as the object of study. Initially a 6 DOF non linear mathematical model have been built, and analyzes the natural configuration charac

4、teristic without control. Secondly, briefly discusses autonomous navigation method of unmanned aerial vehicles, and introduces a basic principle of adaptive sliding mode control then applys it to the control law design o

5、f atounous take-off and antoumous landing. This part designs the control law periodically, and simulates the control law with MATLAB. Then verify the robustness of the control law under wind disturbance. Afterward, In

6、 the Windows platform, applys visual simulation software Creator and Vega to autonomous take-off and autonous landing of UAV respectively.And simulates the process of UAV's autonomous take-off and autonomous landing

7、more realistically. A seheme for atounous take-offand landing control systems is obtained in this dissertation. The simulation results show that the designed control system is satisfying. And it is benefieial to the deve