筒状共轴折叠双旋翼无人直升机控制仿真与设计  

Design and control simulation of cylindrical coaxial folding dual⁃rotor unmanned helicopter

作　　者：周洋 陈超波[2] 王司令 李继超[2] 吉思臣 ZHOU Yang;CHEN Chaobo;WANG Siling;LI Jichao;JI Sichen(School of Defence Science&Technology,Xi’an Technological University,Xi’an 710000,China;School of Electronic Information Engineering,Xi’an Technological University,Xi’an 710000,China)

机构地区：[1]西安工业大学兵器科学与技术学院,陕西西安710000 [2]西安工业大学电子信息工程学院,陕西西安710000

出　　处：《现代电子技术》2023年第8期111-117,共7页Modern Electronics Technique

基　　金：国家自然科学基金青年基金项目(62103315);陕西省技术创新引导专项(基金)计划项目(2022QFY01-16)。

摘　　要：针对双电机驱动的共轴折叠双旋翼无人直升机载荷偏小的问题,文中提出一种单层周期变距的筒状共轴折叠双旋翼无人直升机。动力系统采用伞齿机械同步结构使上下层旋翼同速旋转,旋翼系统采用下层周期变距和上层变总距。上下桨毂采用不等长设计,避免旋转展开时打桨。然后,建立该筒状共轴无人直升机的动力学模型和气动模型;并针对共轴双旋翼直升机的非线性控制问题,设计一种基于滑模控制的姿态和位置控制器,利用Matlab对该控制器进行仿真。最后,制作原理样机,通过实验验证控制方案的有效性。结果表明,所设计的无人直升机可以顺利打开桨叶,实现稳定悬停和飞行。In allusion to the problem of small load of coaxial folding dual⁃rotor unmanned helicopter driven by two motors,a single⁃layer periodic varying⁃pitch cylindrical coaxial folding dual⁃rotor unmanned helicopter is proposed.The bevel gear mechanical synchronous structure is used at the power system to make the upper and lower rotors rotate at the same speed.The lower cycle variable pitch and the upper layer variable total pitchare adopted in the rotor system.The unequal length design is used in the upper and lower propellers to avoid hitting the propeller when rotating and unfolding.The dynamics model and aerodynamic model of this cylindrical coaxial dual⁃rotor unmanned helicopter are established.In allusion to the non⁃linear control problem of the coaxial dual⁃rotor unmanned helicopter,the attitude and position controller based on sliding mode control is designed,and the designed controller is simulated by means of Matlab.The principle prototype is constructed,and the effectiveness of the control scheme is verified by the experiments.The experimental results show that the designed unmanned helicopter can open the propeller smoothly and realize stable hovering and flighting.

关 键 词：共轴双旋翼 无人直升机 可折叠旋翼 滑模跟踪控制器 仿真验证 样机测试 

分 类 号：TN876-34[电子电信—信息与通信工程]