Dynamics Modeling and Simulation of Multi-rotor UAV based on the Composite Wind Field Model

Abstract

To study the influence of compound wind field disturbance on the stability of multi-rotor UAV(unmanned aerial vehicle), a dynamics modeling and simulation method for multi-rotor UAV under the compound wind field model is proposed. Firstly, based on the idea of equivalent modeling in practical engineering, the models of uniform wind, gust, turbulence and wind shear are constructed respectively. The numerical analysis and simulation research are then carried out. Second, the dynamic model of multi rotor UAV under the action of composite wind field is deduced, and the attitude control model is derived. Finally, the numerical analysis software is utilized to simulate and analyze the attitude response of the multi-rotor UAV under the condition of wind and no wind, and analyze its control performance under the interference of compound wind field. The simulation results show that the dynamic model of the multi-rotor UAV under the influence of the wind field can accurately reflect its dynamic performance under the action of the wind field, and the output attitude angle fluctuation is less than 2°. The obtained results show that the established wind field model can be effectively applied to the research on the flight performance of multi-rotor UAV under the interference of compound wind field.