共轴式无人直升机的高度控制系统设计  

Design of Height Control System for Coaxial Unmanned Helicopter

作　　者：李慧[1] 王飞[1] 贺天鹏[2] 

机构地区：[1]黄河科技学院 [2]北京航空航天大学航空科学与工程学院

出　　处：《航空制造技术》2015年第16期71-74,78,共5页Aeronautical Manufacturing Technology

基　　金：国家863计划(2012AA112201)资助

摘　　要：针对导弹正常制导过程中导引头跟踪点突变的情况,理论分析了导引头跟踪点突变对导弹过载指令的影响;对于不同的弹体动力学模型,仿真分析了跟踪点突变对制导系统精度的影响,并分析影响制导系统精度的主要相关因素;最后,探讨了跟踪点突变影响抑制方法。仿真分析表明,文中所述的方法能够有效抑制导引头跟踪点突变对制导精度的影响。A height maintenance system based on engineering application is designed for the specificity of flight control to coaxial unmanned helicopter, whose low- height signal generation circuit can make system switch easily between two height parameters, and two kinds of switching height can reduce frequent switching because of aerodynamic interference or change of terrain height. In- tegral of height difference and velocity difference is added to height control law for reducing helicopter fluctuation and making helicopter stable more quickly in given height. In addition heading compensation is considered for lower- ing influence of course control on lift of coaxial unmanned helicopter. At the same time system will limit lifting speed during automatically lifting or falling-off, which can en- sure that helicopter will not go into vortex state. Further- more, circuit following pitch in system may reduce the impact of flight control mode switching. It is proved that the effect of height maintenance is good for one unmanned helicopter by flying test.

关 键 词：无人直升机 飞行控制 高度保持系统 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]