无人自转旋翼机建模与控制方法研究  

Research on Modeling and Control Method for Unmanned Gyroplane

作　　者：董鹏程 李爱国[1] 余跃 曹煜 柴嘉薪 Dong Pengcheng;Li Aiguo;Yu Yue;Cao Yu;Chai Jiaxin(Beijing Aerospace Automatic Control Institute,Beijing 100854,China)

机构地区：[1]北京航天自动控制研究所,北京100854

出　　处：《航天控制》2021年第5期16-20,26,共6页Aerospace Control

摘　　要：以500kg级无人自转旋翼机为研究对象,研究了样例无人旋翼机的建模和自动飞行控制技术。首先,基于解析形式叶素积分法给出自转旋翼机的建模方法,并给出了样例旋翼无人机的数学模型;然后,设计了无人旋翼机的俯仰和滚转控制律,并在此基础上设计了速度、高度及侧偏控制律。最后,通过飞行试验验证了模型的准确性及控制律的有效性。In this paper,by taking a type of 500 kg unmanned gyroplane as the research target,mathematical model of unmanned gyroplane and flight control strategies are deeply studied.Firstly,an auto-gyro UAV is modeled,which is based on closed-form blade element method.Then,attitude control,height control,speed control and cornering control are studied,and then control loop and control law are designed for unmanned gyroplane.Finally,The accuracy of the model and the effectiveness of the control law are verified by flight test.

关 键 词：无人自转旋翼机 叶素理论 飞行控制 模型验证 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]