重载双发纵列式无人直升机飞行控制系统设计  

Design of a Heavy-duty Double-engine Longitudinal Unmanned Helicopter Control System

作　　者：李硕 李小光 顾天昊 徐冠华 LI Shuo;LI Xiaoguang;GU Tianhao;XU Guanhua(School of Automation,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,青岛266071

出　　处：《自动化与仪表》2024年第1期50-54,共5页Automation & Instrumentation

基　　金：中国博士后科学基金资助项目(2022M721744);山东省博士后创新人才支持计划项目(SDBX2022023)。

摘　　要：针对大型重载双发纵列式无人直升机飞行控制系统设计,该文从软硬件介绍整体系统搭建并将控制系统分为转速控制模块与姿态控制模块。转速控制中,该文采用PID算法控制2台航空发动机转速,并在转速反馈中加入低通滤波器达到稳定转速的效果。姿态控制中,采用串级控制策略,为了减弱油动重载直升机起飞震动对控制的影响,在姿态反馈回路中加入低通滤波器,内环对姿态角速度精确控制,外环对姿态角度加以有效控制。最后在工程实验中实现了重载双发纵列式无人直升机的悬停试飞,取得了预期试飞效果,证明控制系统设计的有效性。Aiming at the design of the flight control system of large heavy-duty double-engine longitudinal unmanned helicopter,this paper introduces the overall system construction from the hardware and software,and divides the control system into speed control module and attitude control module.In the speed control,PID algorithm is used to control the speed of two aero-engines step by step,and low pass filter is added to the speed feedback to achieve the effect of stable speed.In the attitude control,a cascade control strategy is adopted.In order to reduce the impact of take-off vibration on the control of oil-powered heavy-duty helicopter,a low-pass filter is added to the attitude feedback loop.The inner loop precisely controls the attitude angular velocity and the outer loop effectively controls the attitude angle.Finally,the hovering test flight of heavy-duty double-engine tandem unmanned helicopter is realized in the engineering experiment,and the expected test flight effect is obtained,which proves the effectiveness of the control system design.

关 键 词：重载双发 纵列式直升机 发动机控制 姿态控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]