无人旋翼机转弯飞行导航控制研究  

Study on Navigation Control of Turning Flight for Unmanned Rotorcraft

作　　者：陈淼[1] 王道波[1] 盛守照[1] 张元[2] 

机构地区：[1]南京航空航天大学自动化学院 [2]中国人民解放军94032部队

出　　处：《电光与控制》2012年第3期6-11,共6页Electronics Optics & Control

基　　金：航空科学基金资助项目(20101352015)

摘　　要：研究某自转旋翼机转弯飞行控制策略。分析了自转旋翼机不同于直升机的操纵特性及其在转弯过程中纵横向耦合关系;将无人旋翼机定高度盘旋导航分为高度导航和平面导航两部分,在高度导航部分,分析了发动机推力与旋翼拉力之间的关系,设计了高度控制回路;在平面导航部分,详细阐述了该无人旋翼机在圆弧航迹各航点的飞行特征,给出了速度控制策略,并针对该无人旋翼机受扰动偏离航迹问题,设计了侧偏修正方案;最后,在姿态稳定控制回路的基础上将高度与速度控制回路进行整合,然后详细阐述了盘旋飞行导航策略。通过半物理仿真试验,验证了导航思想的可行性和控制策略的有效性。To study turning flight control strategy for an unmanned rotorcraft, the differences dynamic characteristics between rotorcraft and helicopter were discussed, as well as the coupling in flight relation between longitudinal and lateral attitude in the turning phase of the unmanned rotoreraft. The hovering navigation control of rotorcraft at given height was divided into two parts of height navigation and level navigation. For height navigation, the relation between engine thrust and rotor pulling force was analyzed and the height control loop was designed. For level navigation, the flight characteristics of each waypoint on the track were analyzed and the velocity control strategy was presented. A correction strategy was designed to solve the problem of deviating. In a word, the height loop and the velocity loop was co-designed on the basis of attitude loop. Finally, a hardware-in-loop simulation was made to demonstrate the effectiveness of the navigation approach and control strategy.

关 键 词：无人旋翼机 转弯飞行 导航控制 侧向偏移 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]