无人直升机吊挂运输飞行协调控制设计  

Design of Coordinate Control for Unmanned Helicopter on Slung Flight

作　　者：蓝启城 赖水清[2] LAN Qicheng;LAI Shuiqing(CSSC Systems Engineering Research Institute,Beijing 100094,China;China Helicopter Research and Development Institute,Jingdezhen 333001,China)

机构地区：[1]中国船舶工业系统工程研究院,北京100094 [2]中国直升机设计研究所,江西景德镇333001

出　　处：《直升机技术》2021年第2期43-49,共7页Helicopter Technique

摘　　要：针对无人直升机吊挂运输飞行,采用自抗扰控制(ADRC)方法,设计了巡航状态下吊挂飞行协调控制和目标点附近吊挂消摆轨迹规划控制策略,并进行了仿真验证。仿真结果表明,采用自抗扰控制后,无人直升机巡航状态下吊挂飞行协调控制动态响应时间短,超调量与静态误差小,跟踪性能良好,到达预设位置后消摆效果明显。Considering that the slung flight control of the unmanned helicopter,this paper adopted the auto-disturbance-rejection control method to design the slung flight coordinate control in the cruise state and the anti-swing trajectory planning control strategy near the target point,and simulated to verify the control results.The simulation showed that for the slung flight coordinated control in the cruise state of the unmanned helicopter,the adopted auto-disturbance-rejection control leads to short dynamic response time,small overshoot and static error,the satisfied tracking performance,and obvious anti-swing effect after reaching the preset position.

关 键 词：无人直升机 吊挂运输 协调控制 

分 类 号：V275.1[航空宇航科学与技术—飞行器设计] V249.1