圆柱形定桨距共轴双旋翼无人机的制导控制系统设计

: Cylindrical fixed-pitch coaxial twin-rotor unmanned aerial vehicle can balance structural weight, payload size, and endurance, making them suitable for use as suicide drones carried by individual soldier. In order to achieve precise strike of ground targets by cylindrical fixed-pilch coaxial twin rotor unmanned aerial vehicles(UAV), a dynamic model is established based on the definition of the relevant coordinate system. Based on this model, an input allocation is proposed that converts three linear acceleration and three angular acceleration commands into UAV upper and lower rotor speeds and steering engine deflection angles. A cascade PID attitude controller of UAV is designed to stabilize the altitude angle of UAV body, and a three-dimensional guidance law based on LI guidance law is proposed to guide unmanned aerial vehicles to attack ground targets by determining the direction of guidance command space through vector cross multiplication. Finally, numerical simulation of UAV is conducted. The simulation result shows that the UAV can hit fixed/moving targets on the ground with the designed guidance and control system, verifying the rationality and effectiveness of the designed guidance and control system.