一种基于操纵杆的中型无人直升机飞行操纵技术设计与实现  

A Joystick Based Design and Implementation of Medium-sized Unmanned Helicopter Flight Control Technology

作　　者：孙飞 刘佳晖 祖家奎[1] 桑可可 姚志豪 SUN Fei;LIU Jiahui;ZU Jiakui;SANG Keke;YAO Zhihao(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,南京211106

出　　处：《机械制造与自动化》2025年第2期248-253,共6页Machine Building & Automation

摘　　要：为满足中型无人直升机在植保领域的控制要求,减轻操纵人员负担,提升操纵效率,提出一种基于操纵杆的无人直升机飞行操纵技术。针对无人直升机对象特性复杂、稳定性差、操纵难度大的问题,以杆操纵为主、自动控制为辅,详细设计了操纵杆通道定义,并对杆数据进行了工程化处理,使输入量光滑连续。设计中型无人直升机接入操纵杆控制时对应的控制律,保障操纵杆控制的稳定性和安全性。考虑实际使用中所需的控制功能,重点研究基于操纵杆的人工增稳模式和GPS混控模式。试飞验证表明:该方法能稳定准确地操控中型无人直升机完成目标动作。To meet the control requirements of medium-sized unmanned helicopters in the field of plant protection,and reduce the burden on operators and improve control efficiency,a joystick based unmanned helicopter flight control technology is proposed.As to complex characteristics,poor stability and great difficulty in control of unmanned helicopter objects,the joystick channel definition was designed in detail with stick control as the main control and automatic control as the auxiliary.The joystick data was processed in an engineering manner to ensure smooth and continuous input.The corresponding control law was designed when the medium-sized unmanned helicopter was connected to the joystick control,assuring the stability and safety of the joystick control.Considering the control functions required in practical use,study was focued on the manual stabilization mode and GPS hybrid control mode based on the joystick.The final flight test verification shows that th proposed method can stably and accurately control a medium-sized unmanned helicopter to complete the target action.

关 键 词：无人直升机 杆数据处理 操纵杆控制方案 

分 类 号：V249[航空宇航科学与技术—飞行器设计]