Introduced the atmosphere transparency on the basis of the solar radiation model on the ground, the model of solar radiation which varies with altitude had been studied so as to be suitable for solar UAV. And the calculation of solar declination angle had revised to be concise. In view of solar energy constraints and a flexible structure, the flight control algorithm was designed from the perspective of energy conversion, which the climb rate was controlled by the residual energy; and the propellers were controlled by the motor power differential in order to realize the plane turn. Refraining from these problems that came with the traditional control method such as control instruction beyond the limits of the energy and the strength of the structure which solar UAV could offer, a better result was obtained.%在地面太阳辐射计算模型基础上引人大气透明率,建立了用于太阳能无人机的随高度变化的辐射模型,并对赤纬角的计算做了修正,使之更为简洁；结合太阳能无人机能源约束等特点,从能量转化角度设计控制器；由剩余能量控制高度变化率,由电机功率差值控制螺旋桨差动实现平面内转弯;避免了传统的控制方法带来的控制指令超出能量所能提供的范围或超出机体结构强度的负荷等不合理现象,得到了更为直观的控制效果.
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