Optimization of the Vertical Profile of Small Coaxial Dual-rotor UAVs Based on the Energy State Method

Inhalt:
At present, the optimized trajectory of vertical profile is mostly realized on large passenger aircraft. In this paper, this optimization is extended to unmanned aerial vehicles (UAVs) by optimizing the trajectory for the longest possible range considering the given battery power and altitude. Taking the self-developed small coaxial UAV as an example, firstly, the motion model of the aircraft is obtained through mathematical modeling, and the mathematical model of the flight cost is obtained through the optimal control theory. Based on the energy state method, only the cruise and descent phases of the vertical flight profile of the aircraft are considered, the optimization simulation is carried out by particle swarm algorithm and Matlab's bvp4c function in stages, and the optimal flight trajectory in the vertical flight profile of the aircraft is finally obtained. The optimization results are obvious, and applying the vertical trajectory optimization to the UAV can help to increase the range by 7.6%.