直升机人机协同控制方法研究与飞行验证  

Man-machine cooperative control of helicopter and flight experimental validation

作　　者：金子博 李道春[1] 孙毅[1] 张凯 向锦武[1] JIN Zibo;LI Daochun;SUN Yi;ZHANG Kai;XIANG Jinwu(School of Aeronautic Science and Engineering,Beihang University,Beijing 100191,China;Beihang UAS Technology Co.,Ltd.,Beijing 100191,China)

机构地区：[1]北京航空航天大学航空科学与工程学院,北京100191 [2]北京北航天宇长鹰无人机科技有限公司,北京100191

出　　处：《北京航空航天大学学报》2023年第11期3022-3030,共9页Journal of Beijing University of Aeronautics and Astronautics

摘　　要：人机协同系统可以充分发挥人类智慧的优越性和机器人作业的高精度与高效率,被广泛应用于决策指挥、工业控制和医疗手术等领域。飞行员驾驶飞行器时需要实时处理大量信息并给出精准操控,操纵负担大。基于典型单旋翼直升机的操控特点,设计一种直升机协同驾驶机器人系统,驾驶机器人连接直升机周期变距杆控制直升机的俯仰运动和滚转运动,飞行员通过总距杆和脚蹬控制直升机的航向运动和升降运动。协同驾驶机器人可以在不改装原有直升机的基础上实现一种新型的人机协同飞行控制,快速提升现有直升机的自动化水平和飞行员在应急情况下的生存能力。研究驾驶机器人控制系统模型,建立适用于直升机人机协同控制的飞行模拟平台,通过飞行员在环飞行仿真初步验证了人机协同控制方法的可行性。在飞行仿真验证的基础上研制了驾驶机器人样机,并将样机搭载在SVH-4直升机上完成飞行实验验证。The man-machine cooperation system can make full use of the advantages of human intelligence and the high precision and efficiency of robot operation.The substantial control burden placed on pilots results from their requirement to analyze a huge quantity of information in real time and provide precise control while operating the aircraft.A cooperative robot pilot was proposed based on a typical helicopter flight platform.The robot pilot connects the cyclic control stick to control the pitch motion and roll motion of the helicopter while the human pilot manipulates the pedals and collective to control the yaw motion and helicopter height.The cooperative robot pilot,which may swiftly raise the automation level of the current helicopter and increase the pilot’s viability in an emergency,introduces a novel approach to man-machine cooperative flight control without altering the original aircraft.The control system of the cooperative robot pilot was studied and the flight simulator for man-machine cooperative piloting was established.The feasibility of the cooperative piloting method was preliminarily verified through the pilot-in-loop flight simulations.Based on the flight simulation verification,a prototype of the cooperative robot pilot was developed and installed in the SVH-4 helicopter to complete the flight experiment verification.

关 键 词：人机协同 直升机 驾驶机器人 飞行控制 飞行实验 

分 类 号：V241[航空宇航科学与技术—飞行器设计]