共轴双旋翼无人直升机飞行控制系统设计  

Design of Flight Control System for Coaxial Twin Rotor Unmanned Helicopter

作　　者：张雨飞 李小光 徐冠华 李硕 ZHANG Yufei;LI Xiaoguang;XU Guanhua;LI Shuo(School of Automation,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071

出　　处：《机械制造与自动化》2025年第2期254-257,共4页Machine Building & Automation

基　　金：山东省自然科学基金青年项目(ZR2023QE225)。

摘　　要：通过对重载共轴双旋翼无人直升机飞行控制系统的设计,全面阐述控制系统的构建。在转速控制方面,采用PID控制算法并引入低通滤波算法对航空发动机的转速进行稳定控制。在姿态控制方面,引入串级PID控制策略并在姿态反馈回路中采用低通滤波器,有效控制内环姿态角速度与外环姿态角度。通过试验,成功实现共轴双旋翼无人直升机的悬停试飞和定高定点试飞,验证了控制系统设计的有效性。The flight control system for a heavy-duty coaxial twin rotor unmanned helicopter is designed and its construction is comprehensively exlabrated.In terms of speed control,PID control algorithm was adopted and low-pass filtering algorithm was introduced to stabilize the speed of the aircraft engine.In terms of attitude control,a cascade PID control strategy was introduced and a low-pass filter was used in the attitude feedback loop to effectively control the inner loop attitude angular velocity and outer loop attitude angle.Hover test and fixed altitude and fixed point test of the coaxial twin rotor unmanned helicopter succeeded,verifying the effectiveness of the control system design.

关 键 词：重载无人机 共轴双旋翼 转速控制 姿态控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计]