小型陆空两栖系统控制及模式转换

陆空两栖无人系统的设计克服了无人机巡航耗电量大、无人车运动易受限制的缺点,通过灵活的转换系统的控制模式,使系统能够穿越不同地形,适用于多种复杂环境下的侦查探测.两栖系统的陆空运动控制既独立又要相互结合,陆地运动实现速度匀速控制及位移控制,空中运动实现系统飞行高度控制及稳定悬停,运行过程中根据多传感器信号实现模式转换控制...

Study on Control and Mode Conversion of Small Land-air Amphibious System

The design of the land-air amphibious unmanned system overcame the shortcomings of high power consumption for UAV cruises and easy restriction of unmanned vehicle movement. By flexibly switching the control mode of the system, the system could traverse different terrains and was suitable for reconnaissance detection in a variety of complex environment. The land and air motion control of the amphibious system was independent and combined with each other. The land motion realized uniform speed control and pace control, and the air motion realized the system flight height control and stable hovering. During the operation, the mode switching control was realized according to the multi-sensor signal. The design system adopted two kinds of PID control algorithms, land and air, and the simulation was completed through Matlab/Simulink. At the same time, the mode switching module was designed through the stateflow module in Simulink to realize integrated control. The simulation results showed that both the land and air PID algorithms had good control effects, and the mode switching control could effectively complete the system''s land and air operation mode conversion.