自旋翼无人机着陆段纵向控制策略研究  

Research on Longitudinal Control Strategy of Unmanned Autogyro in Landing Section

作　　者：梁宇星 王震[1] 黄一敏[1] LIANG Yuxing;WANG Zhen;HUANG Yimin(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106

出　　处：《机械制造与自动化》2023年第3期206-210,共5页Machine Building & Automation

摘　　要：自旋翼无人机是一种以旋翼自转提供升力、螺旋桨推力提供前进动力的旋翼类无人机。以某型自旋翼无人机为研究对象,针对其着陆过程中纵向通道强耦合的控制难点,开展着陆段纵向控制策略的研究。介绍对象旋翼机的机体构型,基于其飞行特性,设计桨盘控速、油门控高的方法,解决陡下滑段速度、高度通道的同步控制问题;设计下沉率反馈的闭环策略,解决浅下滑段姿态与速度的协调控制问题。通过仿真和飞行试验,验证所设计控制策略的合理性和可靠性。Unmanned autogyro is a rotary wing UAV lifted by rotor rotation and forward-powered by propeller thrust.Taking a certain type of unmanned autogyro as the research object and aiming at the control difficulty of the strong coupling of the longitudinal channel during the landing process,makes a study on the longitudinal control strategy of the landing section.The body configuration of the target rotorcraft is introduced.Based on its flight characteristics,the method of speed control and high throttle control is designed to solve the problem of synchronous control of the speed and height channel in the steep sliding section;the closed-loop strategy of sink rate feedback is designed to solve the problem of coordinated control of attitude and speed in the shallow sliding section.Simulation and flight tests verify the rationality and reliability of the designed control strategy.

关 键 词：自旋翼无人机 着陆控制 纵向控制策略 

分 类 号：V249[航空宇航科学与技术—飞行器设计]