In the future civilian UAV market, low-altitude low-speed small UAV will obtain a dominant position. In order to achieve small UAV accurate navigation, researchers have devoted lots of efforts on disturbance-model-reference controllers to reject the external wind disturbance. As we all know, accurate modeling helps the efficiency of controller’s parameters. However, almost all the design processes of disturbance-model-reference controllers are based on speed triangle theory which fails to adequately explain the effect of external wind field disturbances on UAV. First, conservation of energy and momentum theory is used to prove that the traditional speed triangle theory is unreasonable to analyze the influence of external wind field on UAV. Then, a more accurate method based on the conservation of energy and momentum theory is proposed to correctly illustrate the effect of wind disturbance on UAV. Finally, two external wind disturbance UAV flight simulation platforms based on speed triangle theory and conservation of energy and momentum theory are implemented separately, showing the big difference between these two types of methods about presenting effect of external wind field on UAV.

中文翻译：

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基于守恒理论的外风扰动对小型民用无人机影响的分析方法

未来民用无人机市场，低空低速小型无人机将获得主导地位。为了实现小型无人机的精确导航，研究人员在干扰模型参考控制器上投入了大量精力，以抑制外部风的干扰。众所周知，准确的建模有助于控制器参数的效率。然而，几乎所有扰动模型参考控制器的设计过程都基于速度三角形理论，无法充分解释外部风场扰动对无人机的影响。首先，利用能量和动量守恒理论证明传统的速度三角形理论在分析外部风场对无人机的影响方面是不合理的。然后，提出了一种基于能量和动量守恒理论的更准确的方法来正确说明风扰动对无人机的影响。最后分别实现了两个基于速度三角理论和能量守恒理论的外风扰动无人机飞行仿真平台，显示了这两种方法在外来风场对无人机的影响表现上有很大的不同。